Class for controlling a DC motor with encoder functionality. More...

#include <MiniR4DC.h>

Public Member Functions
	MiniR4DC ()

bool	begin (void)
	Initializes the DC motor settings.

bool	setReverse (bool dir)
	Sets the direction of the DC motor.

bool	setPower (int16_t power)
	Sets the power level of the DC motor.

bool	setSpeed (int16_t speed)
	Sets the speed of the DC motor.

bool	rotateFor (int16_t speed, uint16_t degree)
	Rotates the DC motor for a specific degree at a given speed.

bool	setFixSpeedPID (float kp, float ki, float kd)
	Sets the PID parameters for fixed speed control. (For SetSpeed())

bool	setRotatePID (float kp, float ki, float kd)
	Sets the PID parameters for rotation control. (For rotateFor())

int32_t	getCounter (void)
	Gets the current encoder counter value. (Not Degree)

int32_t	getDegrees (void)
	Gets the current rotation in degrees based on the encoder count.

bool	resetCounter (void)
	Resets the encoder counter to zero.

bool	setBrake (bool brake)
	Sets the brake mode for the DC motor.

bool	ChkRotateEnd (bool &isEnd)
	Checks if the rotation has ended.

Detailed Description

template<uint8_t ID>
class MiniR4DC< ID >

Class for controlling a DC motor with encoder functionality.

This template class provides methods for initializing, controlling speed, power, and direction of a DC motor, as well as for managing its encoder.

Template Parameters

ID	The identifier for the motor.

Definition at line 20 of file MiniR4DC.h.

Constructor & Destructor Documentation

◆ MiniR4DC()

template<uint8_t ID>

MiniR4DC< ID >::MiniR4DC ( )

inline

Definition at line 23 of file MiniR4DC.h.

Member Function Documentation

◆ begin()

template<uint8_t ID>

bool MiniR4DC< ID >::begin ( void )

inline

Initializes the DC motor settings.

This function sets the speed range, resets the encoder counter, powers off the motor, and sets the direction to forward.

Note: Once you call MiniR4.begin(), M1-M4 motor will automaticlly begin.

Returns: True if initialization was successful, false otherwise.

Definition at line 35 of file MiniR4DC.h.

◆ ChkRotateEnd()

template<uint8_t ID>

bool MiniR4DC< ID >::ChkRotateEnd ( bool & isEnd )

inline

Checks if the rotation has ended.

Parameters

isEnd Reference to a boolean that will be set to true if rotation has ended, false otherwise.

Returns: True if the state was successfully retrieved, false otherwise.

Definition at line 197 of file MiniR4DC.h.

◆ getCounter()

template<uint8_t ID>

int32_t MiniR4DC< ID >::getCounter ( void )

inline

Gets the current encoder counter value. (Not Degree)

Returns: The current encoder counter value.

Definition at line 142 of file MiniR4DC.h.

◆ getDegrees()

template<uint8_t ID>

int32_t MiniR4DC< ID >::getDegrees ( void )

inline

Gets the current rotation in degrees based on the encoder count.

Returns: The calculated degrees of rotation.

Definition at line 154 of file MiniR4DC.h.

◆ resetCounter()

template<uint8_t ID>

bool MiniR4DC< ID >::resetCounter ( void )

inline

Resets the encoder counter to zero.

Returns: True if the counter was successfully reset, false otherwise.

Definition at line 166 of file MiniR4DC.h.

◆ rotateFor()

template<uint8_t ID>

bool MiniR4DC< ID >::rotateFor	(	int16_t	speed,
		uint16_t	degree )

inline

Rotates the DC motor for a specific degree at a given speed.

It's like LEGO EV3/SPIKE Motor rotate for degress block. Note: Non-Blocking function, you can use ChkRotateEnd() to check motor finish rotate or not. Note: If motor not complete rotate and revice other command like setSpeed(), the rotate will be skip.

Parameters

speed	The speed at which to rotate the motor.
degree	The degree of rotation.

Returns: True if the rotation command was successful, false otherwise.

Definition at line 103 of file MiniR4DC.h.

◆ setBrake()

template<uint8_t ID>

bool MiniR4DC< ID >::setBrake ( bool brake )

inline

Sets the brake mode for the DC motor.

Like LEGO EV3/SPIKE, True is Brake, False is Coast.

Parameters

brake True to engage the brake, false to stop the motor.

Returns: True if the brake was successfully engaged, false otherwise.

Definition at line 180 of file MiniR4DC.h.

◆ setFixSpeedPID()

template<uint8_t ID>

bool MiniR4DC< ID >::setFixSpeedPID	(	float	kp,
		float	ki,
		float	kd )

inline

Sets the PID parameters for fixed speed control. (For SetSpeed())

Parameters

kp	Proportional gain.
ki	Integral gain.
kd	Derivative gain.

Returns: True if the PID parameters were successfully set, false otherwise.

Definition at line 117 of file MiniR4DC.h.

◆ setPower()

template<uint8_t ID>

bool MiniR4DC< ID >::setPower ( int16_t power )

inline

Sets the power level of the DC motor.

It's like LEGO EV3/SPIKE Power block (Unregulated Motor) It will output the Motor PWM from 0% to 100%

Parameters

power The power level to set (-100 to 100).

Returns: True if the power was successfully set, false otherwise.

Definition at line 71 of file MiniR4DC.h.

◆ setReverse()

template<uint8_t ID>

bool MiniR4DC< ID >::setReverse ( bool dir )

inline

Sets the direction of the DC motor.

Parameters

dir	True to set direction to reverse, false for forward.

Returns: True if the direction was successfully set, false otherwise.

Definition at line 53 of file MiniR4DC.h.

◆ setRotatePID()

template<uint8_t ID>

bool MiniR4DC< ID >::setRotatePID	(	float	kp,
		float	ki,
		float	kd )

inline

Sets the PID parameters for rotation control. (For rotateFor())

Parameters

kp	Proportional gain.
ki	Integral gain.
kd	Derivative gain.

Returns: True if the PID parameters were successfully set, false otherwise.

Definition at line 131 of file MiniR4DC.h.

◆ setSpeed()

template<uint8_t ID>

bool MiniR4DC< ID >::setSpeed ( int16_t speed )

inline

Sets the speed of the DC motor.

It's like LEGO EV3/SPIKE Speed block (EV3 Green Motor) The Lower MCU (STM32) will control the motor PWM to try keep the speed you set.

Parameters

speed The speed to set (-100 to 100).

Returns: True if the speed was successfully set, false otherwise.

Definition at line 86 of file MiniR4DC.h.

The documentation for this class was generated from the following file:

D:/MTXBlock_DevHome/MatrixMiniR4_DOX/src/Modules/MiniR4DC.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ MiniR4DC()

Member Function Documentation

◆ begin()

◆ ChkRotateEnd()

◆ getCounter()

◆ getDegrees()

◆ resetCounter()

◆ rotateFor()

◆ setBrake()

◆ setFixSpeedPID()

◆ setPower()

◆ setReverse()

◆ setRotatePID()

◆ setSpeed()