#include <mrm-board.h>

Inheritance diagram for MotorGroupDifferential:

Public Member Functions
	MotorGroupDifferential (Robot robot, MotorBoard motorBoardForLeft1, uint8_t motorNumberForLeft1, MotorBoard motorBoardForRight1, uint8_t motorNumberForRight1, MotorBoard motorBoardForLeft2=NULL, uint8_t motorNumberForLeft2=0, MotorBoard *motorBoardForRight2=NULL, uint8_t motorNumberForRight2=0)

void	go (int16_t leftSpeed=0, int16_t rightSpeed=0, int16_t lateralSpeedToRight=0, uint8_t speedLimit=127)

Public Member Functions inherited from MotorGroup
	MotorGroup (Robot *robot)

void	stop ()

Additional Inherited Members
Protected Member Functions inherited from MotorGroup
float	angleNormalized (float angle)

Protected Attributes inherited from MotorGroup
MotorBoard *	motorBoard [MAX_MOTORS_IN_GROUP] = { NULL, NULL, NULL, NULL }

uint8_t	motorNumber [MAX_MOTORS_IN_GROUP]

Robot *	robotContainer

Detailed Description

Motor group for tank-like propulsion.

Constructor & Destructor Documentation

MotorGroupDifferential::MotorGroupDifferential	(	Robot *	robot,
		MotorBoard *	motorBoardForLeft1,
		uint8_t	motorNumberForLeft1,
		MotorBoard *	motorBoardForRight1,
		uint8_t	motorNumberForRight1,
		MotorBoard *	motorBoardForLeft2 = `NULL`,
		uint8_t	motorNumberForLeft2 = `0`,
		MotorBoard *	motorBoardForRight2 = `NULL`,
		uint8_t	motorNumberForRight2 = `0`
	)

Constructor

Parameters

motorBoardForLeft1	- Controller for one of the left wheels
motorNumberForLeft1	- Controller's output number
motorBoardForRight1	- Controller for one of the right wheels
motorNumberForRight1	- Controller's output number
motorBoardForLeft2	- Controller for one of the left wheels
motorNumberForLeft2	- Controller's output number
motorBoardForRight2	- Controller for one of the right wheels
motorNumberForRight2	- Controller's output number

void MotorGroupDifferential::go	(	int16_t	leftSpeed = `0`,
		int16_t	rightSpeed = `0`,
		int16_t	lateralSpeedToRight = `0`,
		uint8_t	speedLimit = `127`
	)

Start all motors

Parameters

leftSpeed,in	range -127 to 127
right	Speed, in range -127 to 127
speedLimit	- Speed limit, 0 to 127. For example, 80 will limit all the speeds to 80/127%. 0 will turn the motors off.

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

C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-board/src/mrm-board.h
C:/Users/priba/Documents/PlatformIO/Projects/MRMS/lib/mrm-board/src/mrm-board.cpp