MotorAdapter Class Reference

#include <MotorAdapter.h>

Inheritance diagram for MotorAdapter:

Collaboration diagram for MotorAdapter:

Public Member Functions
	MotorAdapter (AdafruitPWMServoHat *m_pwmHat, int forwardPin, int backwardPin)
	~MotorAdapter () override
void	write (IMessage *msg) override
std::list< IMessage * > *	read () override
Public Member Functions inherited from IHardwareInterface
virtual	~IHardwareInterface ()

Detailed Description

Hardware adapter for communicating with the Pololu motors TODO: Change the MotorMessage type to send data in terms of velocity (cm/s) instead of motor power([-4095, 4095]). This will uncouple the rest of the program from the hardware specifics.

Definition at line 18 of file MotorAdapter.h.

Constructor & Destructor Documentation

MotorAdapter::MotorAdapter	(	AdafruitPWMServoHat *	m_pwmHat,
		int	forwardPin,
		int	backwardPin
	)

Constructor

Parameters

m_pwmHat	PAdafruitPWMServoObject used to communicate with motor
forwardPin	Set this pin to PWM to drive motor forward. Set to 0 for backwards.
backwardPin	Set this pin to PWM to drive motor backward. Set to 0 for forward.

Definition at line 7 of file MotorAdapter.cpp.

MotorAdapter::~MotorAdapter ( )

override

Deconstructor.

Definition at line 13 of file MotorAdapter.cpp.

Member Function Documentation

std::list<IMessage*>* MotorAdapter::read ( )

inlineoverridevirtual

Read data from the motor. Cannot. Returns empty list.

Returns

An empty list of IMessages.

Implements IHardwareInterface.

Definition at line 45 of file MotorAdapter.h.

void MotorAdapter::write ( IMessage *  msg )

overridevirtual

Write a message to the motor. Contains an integer representing the speed of the motor [-4095 - 4095] = [Full Backwards, Full Forwards]

Parameters

msg	A message wrapping a byte specifying motor speed

Exceptions

MismatchedMessageException

Message is of wrong type

Implements IHardwareInterface.

Definition at line 17 of file MotorAdapter.cpp.

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

• include/hardwareinterface/MotorAdapter.h
• src/hardwareinterface/MotorAdapter.cpp