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

#include <MiniR4DriveDC.h>

Public Member Functions
	MiniR4DriveDC ()

uint8_t	begin (uint8_t leftMotorID, uint8_t rightMotorID, bool isLeftReverse, bool isRightReverse)
	Initializes the DC motor settings.

bool	setMoveSyncPID (float kp, float ki, float kd)
	Sets the DriveDC motor parameters (Unuse)

bool	setMoveGyroPID (float kp, float ki, float kd)
	Sets the PID parameters for DriveDC MoveGyro.

bool	setTurnGyroPID (float kp, float ki, float kd)
	Sets the PID parameters for DriveDC TurnGyro.

uint8_t	Move (int16_t power_left, int16_t power_right)
	Sets the Motor Type for DriveDC. (Unuse)

uint8_t	MoveDegs (int16_t power_left, int16_t power_right, uint16_t degree, bool brake, bool async=false)
	Sets the power level of the DC motor for a specific degree.

uint8_t	MoveTime (int16_t power_left, int16_t power_right, float Time_S, bool brake, bool async=false)
	Sets the power level of the DC motor for a specific time period.

uint8_t	MoveSync (int16_t power_left, int16_t power_right)
	Sets the power level of the DC motor with synchronization.

uint8_t	MoveSyncDegs (int16_t power_left, int16_t power_right, uint16_t degree, bool brake, bool async=false)
	Sets the power level of the DC motor with synchronization for specific degrees.

uint8_t	MoveSyncTime (int16_t power_left, int16_t power_right, float Time_S, bool brake, bool async=false)
	Sets the power level of the DC motor with synchronization for specific time.

uint8_t	MoveGyro (int16_t power, int16_t Target)
	Sets the power level with gyro guidance.

uint8_t	MoveGyroDegs (int16_t power_X, int16_t Target_D, uint16_t degree, bool brake, bool async=false)
	Sets the power level with gyro guidance for specific degrees.

uint8_t	MoveGyroTime (int16_t power, int16_t Target, float Time_S, bool brake, bool async=false)
	Sets the power level with gyro guidance for specific time.

uint8_t	TurnGyro (int16_t power, int16_t Target_D, uint8_t mode, bool brake, bool async=false)
	Turns the robot to a specific gyro heading.

int32_t	getCounter (void)
	Gets the estimated rotation counter of the drivebase. (not degrees)

int32_t	getDegrees (void)
	Gets the estimated degrees of the drivebase.

uint8_t	resetCounter (void)
	Resets the drivebase encoder counter/degrees to zero.

uint8_t	brake (bool brakeType)
	Sets the brake mode for the DC motor.

bool	isPrevTaskDone (void)
	Checks if the previous task has completed.

Detailed Description

template<uint8_t ID>
class MiniR4DriveDC< ID >

Class for controlling a DC motor with encoder functionality.

This template class provides methods for initializing, driving DC motor by Move, MoveSync, MoveGyro, TurnGyro function

Template Parameters

ID	The identifier for the motor.

Definition at line 29 of file MiniR4DriveDC.h.

Constructor & Destructor Documentation

◆ MiniR4DriveDC()

template<uint8_t ID>

MiniR4DriveDC< ID >::MiniR4DriveDC ( )

inline

Definition at line 30 of file MiniR4DriveDC.h.

Member Function Documentation

◆ begin()

template<uint8_t ID>

uint8_t MiniR4DriveDC< ID >::begin	(	uint8_t	leftMotorID,
		uint8_t	rightMotorID,
		bool	isLeftReverse,
		bool	isRightReverse )

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.DriveDC.begin, DriveDC class motor will automatically begin.

Parameters

leftMotorID	: the number of Left motor
rightMotorID	: the number of Right motor
isLeftReverse	: the direction of Left motor encoder
isRightReverse	: the direction of Right motor encoder

Returns: 0x00 if initialization was successful, error code otherwise.

Definition at line 49 of file MiniR4DriveDC.h.

◆ brake()

template<uint8_t ID>

uint8_t MiniR4DriveDC< ID >::brake ( bool brakeType )

inline

Sets the brake mode for the DC motor.

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

Parameters

brakeType True to engage the brake, false to coast the motor.

Returns: 0x00 if the brake was successfully set, error code otherwise.

Definition at line 676 of file MiniR4DriveDC.h.

◆ getCounter()

template<uint8_t ID>

int32_t MiniR4DriveDC< ID >::getCounter ( void )

inline

Gets the estimated rotation counter of the drivebase. (not degrees)

Returns: The current encoder counter value.

Definition at line 622 of file MiniR4DriveDC.h.

◆ getDegrees()

template<uint8_t ID>

int32_t MiniR4DriveDC< ID >::getDegrees ( void )

inline

Gets the estimated degrees of the drivebase.

Returns: The calculated degrees of rotation.

Definition at line 639 of file MiniR4DriveDC.h.

◆ isPrevTaskDone()

template<uint8_t ID>

bool MiniR4DriveDC< ID >::isPrevTaskDone ( void )

inline

Checks if the previous task has completed.

Returns: True if the previous task is done, false if still running.

Definition at line 693 of file MiniR4DriveDC.h.

◆ Move()

template<uint8_t ID>

uint8_t MiniR4DriveDC< ID >::Move	(	int16_t	power_left,
		int16_t	power_right )

inline

Sets the Motor Type for DriveDC. (Unuse)

Parameters

typeXC => 1:Blue Motor / 2:LEGO Motor

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

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_left	The power level to set for left motor (-100 to 100).
power_right	The power level to set for right motor (-100 to 100).

Returns: 0x00 if the power was successfully set, error code otherwise.

Definition at line 203 of file MiniR4DriveDC.h.

◆ MoveDegs()

template<uint8_t ID>

uint8_t MiniR4DriveDC< ID >::MoveDegs	(	int16_t	power_left,
		int16_t	power_right,
		uint16_t	degree,
		bool	brake,
		bool	async = false )

inline

Sets the power level of the DC motor for a specific degree.

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

Parameters

power_left	The power level to set for left motor (-100 to 100).
power_right	The power level to set for right motor (-100 to 100).
degree	Target Degree for Stop
brake	True(Brake) / false(coast)
async	True(non-block) / false(block) - default: false

Returns: 0x00 if the param was successfully set, error code otherwise.

Definition at line 237 of file MiniR4DriveDC.h.

◆ MoveGyro()

template<uint8_t ID>

uint8_t MiniR4DriveDC< ID >::MoveGyro	(	int16_t	power,
		int16_t	Target )

inline

Sets the power level with gyro guidance.

Robot moves with gyro sensor feedback to maintain straight line or target heading

Parameters

power	The power level to set (-100 to 100).
Target	Target Degree of the IMU Yaw (-360 ~ +360)

Returns: 0x00 if the param was successfully set, error code otherwise.

Definition at line 458 of file MiniR4DriveDC.h.

◆ MoveGyroDegs()

template<uint8_t ID>

uint8_t MiniR4DriveDC< ID >::MoveGyroDegs	(	int16_t	power_X,
		int16_t	Target_D,
		uint16_t	degree,
		bool	brake,
		bool	async = false )

inline

Sets the power level with gyro guidance for specific degrees.

Robot moves with gyro sensor feedback to maintain heading while moving specific encoder degrees

Parameters

power_X	The power level to set (-100 to 100).
Target_D	Target Degree of the IMU Yaw (-360 ~ +360)
degree	Target Degree of the motor encoder for stop
brake	True(Brake) / false(coast)
async	True(non-block) / false(block) - default: false

Returns: 0x00 if the param was successfully set, error code otherwise.

Definition at line 491 of file MiniR4DriveDC.h.

◆ MoveGyroTime()

template<uint8_t ID>

uint8_t MiniR4DriveDC< ID >::MoveGyroTime	(	int16_t	power,
		int16_t	Target,
		float	Time_S,
		bool	brake,
		bool	async = false )

inline

Sets the power level with gyro guidance for specific time.

Robot moves with gyro sensor feedback to maintain heading for specific time duration

Parameters

power	The power level to set (-100 to 100).
Target	Target Degree of the IMU Yaw (-360 ~ +360)
Time_S	The Period(secs) of the motor running
brake	True(Brake) / false(coast)
async	True(non-block) / false(block) - default: false

Returns: 0x00 if the param was successfully set, error code otherwise.

Definition at line 539 of file MiniR4DriveDC.h.

◆ MoveSync()

template<uint8_t ID>

uint8_t MiniR4DriveDC< ID >::MoveSync	(	int16_t	power_left,
		int16_t	power_right )

inline

Sets the power level of the DC motor with synchronization.

It's like LEGO EV3/SPIKE Power block (Regulated Motor) Motors will run synchronized with encoder feedback

Parameters

power_left	The power level to set for left motor (-100 to 100).
power_right	The power level to set for right motor (-100 to 100).

Returns: 0x00 if the power was successfully set, error code otherwise.

Definition at line 329 of file MiniR4DriveDC.h.

◆ MoveSyncDegs()

template<uint8_t ID>

uint8_t MiniR4DriveDC< ID >::MoveSyncDegs	(	int16_t	power_left,
		int16_t	power_right,
		uint16_t	degree,
		bool	brake,
		bool	async = false )

inline

Sets the power level of the DC motor with synchronization for specific degrees.

It's like LEGO EV3/SPIKE Power block (Regulated Motor) Motors will run synchronized with encoder feedback

Parameters

power_left	The power level to set for left motor (-100 to 100).
power_right	The power level to set for right motor (-100 to 100).
degree	Target Degree
brake	True(Brake) / false(coast)
async	True(non-block) / false(block) - default: false

Returns: 0x00 if the param was successfully set, error code otherwise.

Definition at line 363 of file MiniR4DriveDC.h.

◆ MoveSyncTime()

template<uint8_t ID>

uint8_t MiniR4DriveDC< ID >::MoveSyncTime	(	int16_t	power_left,
		int16_t	power_right,
		float	Time_S,
		bool	brake,
		bool	async = false )

inline

Sets the power level of the DC motor with synchronization for specific time.

It's like LEGO EV3/SPIKE Power block (Regulated Motor) Motors will run synchronized with encoder feedback

Parameters

power_left	The power level to set for left motor (-100 to 100).
power_right	The power level to set for right motor (-100 to 100).
Time_S	Period of the Motor Running (secs)
brake	True(Brake) / false(coast)
async	True(non-block) / false(block) - default: false

Returns: 0x00 if the param was successfully set, error code otherwise.

Definition at line 412 of file MiniR4DriveDC.h.

◆ MoveTime()

template<uint8_t ID>

uint8_t MiniR4DriveDC< ID >::MoveTime	(	int16_t	power_left,
		int16_t	power_right,
		float	Time_S,
		bool	brake,
		bool	async = false )

inline

Sets the power level of the DC motor for a specific time period.

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

Parameters

power_left	The power level to set for left motor (-100 to 100).
power_right	The power level to set for right motor (-100 to 100).
Time_S	Period of the Motor Running (secs)
brake	True(Brake) / false(coast)
async	True(non-block) / false(block) - default: false

Returns: 0x00 if the param was successfully set, error code otherwise.

Definition at line 284 of file MiniR4DriveDC.h.

◆ resetCounter()

template<uint8_t ID>

uint8_t MiniR4DriveDC< ID >::resetCounter ( void )

inline

Resets the drivebase encoder counter/degrees to zero.

Returns: 0x00 if the counter was successfully reset, error code otherwise.

Definition at line 656 of file MiniR4DriveDC.h.

◆ setMoveGyroPID()

template<uint8_t ID>

bool MiniR4DriveDC< ID >::setMoveGyroPID	(	float	kp,
		float	ki,
		float	kd )

inline

Sets the PID parameters for DriveDC MoveGyro.

Parameters

kp	Proportional gain.(TT:6.01, LE:0.52)
ki	Integral gain.(TT:0.00, LE:0.00)
kd	Derivative gain.(TT:2.15, LE:0.15)

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

Definition at line 146 of file MiniR4DriveDC.h.

◆ setMoveSyncPID()

template<uint8_t ID>

bool MiniR4DriveDC< ID >::setMoveSyncPID	(	float	kp,
		float	ki,
		float	kd )

inline

Sets the DriveDC motor parameters (Unuse)

Parameters

m1_no	: the number of Left motor
m2_no	: the number of Right motor
m1_dir	: the direction of Left motor encoder
m2_dir	: the direction of Right motor encoder

Returns: 0x00 if the parameters were successfully set, error code otherwise.

Sets the PID parameters for DriveDC MoveSync.

Parameters

kp	Proportional gain.(TT:0.02, LE:0.002)
ki	Integral gain.(TT:0.00, LE:0.00)
kd	Derivative gain.(TT:0.04, LE:0.004)

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

Definition at line 127 of file MiniR4DriveDC.h.

◆ setTurnGyroPID()

template<uint8_t ID>

bool MiniR4DriveDC< ID >::setTurnGyroPID	(	float	kp,
		float	ki,
		float	kd )

inline

Sets the PID parameters for DriveDC TurnGyro.

Parameters

kp	Proportional gain.(TT:22.75, LE-F:22.75, LE-S:5.25)
ki	Integral gain.(TT:0.08, LE:0.02)
kd	Derivative gain.(TT:0.25, LE:1.54)

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

Definition at line 165 of file MiniR4DriveDC.h.

◆ TurnGyro()

template<uint8_t ID>

uint8_t MiniR4DriveDC< ID >::TurnGyro	(	int16_t	power,
		int16_t	Target_D,
		uint8_t	mode,
		bool	brake,
		bool	async = false )

inline

Turns the robot to a specific gyro heading.

Robot turns in place using gyro sensor feedback to reach target heading

Parameters

power	The power level to set (-100 to 100).
Target_D	Target Degree of the IMU Yaw (-360 ~ +360)
mode	0:single motor / 1:two motor
brake	True(Brake) / false(coast)
async	True(non-block) / false(block) - default: false

Returns: 0x00 if the param was successfully set, error code otherwise.

Definition at line 587 of file MiniR4DriveDC.h.

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

D:/MTXBlock_DevHome/MatrixMiniR4_DOX/src/Modules/MiniR4DriveDC.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ MiniR4DriveDC()

Member Function Documentation

◆ begin()

◆ brake()

◆ getCounter()

◆ getDegrees()

◆ isPrevTaskDone()

◆ Move()

◆ MoveDegs()

◆ MoveGyro()

◆ MoveGyroDegs()

◆ MoveGyroTime()

◆ MoveSync()

◆ MoveSyncDegs()

◆ MoveSyncTime()

◆ MoveTime()

◆ resetCounter()

◆ setMoveGyroPID()

◆ setMoveSyncPID()

◆ setTurnGyroPID()

◆ TurnGyro()