Inheritance diagram for DriveMotorRPM:

Collaboration diagram for DriveMotorRPM:

Public Member Functions
	DriveMotorRPM (Communicator comm, Hardware motorHardware, EncoderSensor encoder, int desiredRPM, int direction)

	~DriveMotorRPM ()

bool	execute () override

bool	cleanup (bool canceled) override

Public Member Functions inherited from Command
	Command ()

virtual	~Command ()

void	init ()

void	cancel ()

void	stop ()

bool	isRunning ()

bool	isInitialized ()

void	setIsRunning (bool value)

bool	isFinished ()

Additional Inherited Members
Protected Attributes inherited from Command
std::mutex	m_lock
	Lock for managing access to member variables in a thread-safe manner.

Detailed Description

Command object used to drive a motor at a specified RPM. Uses a PD controller to maintain speed.

Definition at line 17 of file DriveMotorRPM.h.

Constructor & Destructor Documentation

DriveMotorRPM::DriveMotorRPM	(	Communicator *	comm,
		Hardware	motorHardware,
		EncoderSensor *	encoder,
		int	desiredRPM,
		int	direction
	)

Constructor.

Parameters

comm	A communicator object to dispatch motor messages to
motorHardware	The hardware object associated with the motor.
encoder	The encoder sensor maintaining the most recent encoder readings
desiredRPM	The desired RPM
direction	The direction to drive the motor. Specified in DriveConstants. FORWARD=1, BACKWARD=-1

Definition at line 9 of file DriveMotorRPM.cpp.

DriveMotorRPM::~DriveMotorRPM ( )

Destructor

Definition at line 18 of file DriveMotorRPM.cpp.

bool DriveMotorRPM::cleanup ( bool canceled )

overridevirtual

Cleanup. Currently does nothing.

Parameters

canceled

Implements Command.

Definition at line 51 of file DriveMotorRPM.cpp.

bool DriveMotorRPM::execute ( )

overridevirtual

This function gets periodically run by the CommandManger. PD control is executed. Always returns true, ensure that control is always executing.

Implements Command.

Definition at line 22 of file DriveMotorRPM.cpp.

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