BlueSense::MotorDevice Class Reference

Inheritance diagram for BlueSense::MotorDevice:

List of all members.

Public Types
enum	PortEnum
Public Member Functions
	MotorDevice (Master master, ushort deviceId)
void	requestSetSpeeds (byte relevantSpeeds, char[] speeds)
void	requestSetSpeed (PortEnum port, char speed)
void	requestGetSpeeds ()
void	getPendingSpeeds (char[] speeds)
char	getPendingSpeed (PortEnum port)
bool	getRequestSetSpeedsDone ()
char	getCurrentSpeed (PortEnum port)
void	getCurrentSpeeds (char[] speedArray)
uint	getTimeOutUs ()
void	setTimeOutUs (uint timeOutUs)
Static Public Attributes
static byte	MOTORCOUNT = (byte)bluesense.BLUESENSE_MOTORCONTROLLER_MOTORCOUNT

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Detailed Description

Interface to the Motor device BM7005.

The BM7005 can be used to control 2 DC motors. Via software you can control the speed.

Author:

Dinne Bosman

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Member Enumeration Documentation

enum BlueSense::MotorDevice::PortEnum

Enum describing the dc motor output ports

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Constructor & Destructor Documentation

BlueSense::MotorDevice::MotorDevice (  Master  master, ushort  deviceId )  [inline]

Creates a 'software' motor device proxy with a given id. The device will inacessible until a physical device with the same id is detected. Parameters: master  deviceId

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Member Function Documentation

char BlueSense::MotorDevice::getCurrentSpeed (  PortEnum  port  )  [inline]

Returns the current set speed of a specific motor. Parameters: port  the index of the motor. Must lie between 0 and BLUESENSE_MOTORCONTROLLER_MOTORCOUNT. See also: PortEnum Returns: the speed off the motor. Note that speed is a value between -128 and 127. -128 to -1 represent a speed left, 0 stand still and 1 to 127 a speed right, the actual physical speed depends on the specifications of the connected motor.

void BlueSense::MotorDevice::getCurrentSpeeds (  char[]  speedArray  )  [inline]

Fills an array with the current set speeds. Parameters: speedArray  a pointer to an array of speeds with enough space for all motors. See also: MOTORCOUNT Note that each speed is a value between -128 and 127. -128 to -1 represent a speed left, 0 stand still and 1 to 127 a speed right, the actual physical speed depends on the specifications of the connected motor.

char BlueSense::MotorDevice::getPendingSpeed (  PortEnum  port  )  [inline]

Returns the speed of a specific motor, which is currently underway to the device Parameters: port  the output port. See also: PortEnum Returns: the speed to be set on the motor. Note that speed is a value between -128 and 127. -128 to -1 represent a speed left, 0 stand still and 1 to 127 a speed right, the actual physical speed depends on the specifications of the connected motor.

void BlueSense::MotorDevice::getPendingSpeeds (  char[]  speeds  )  [inline]

Fills an array with speeds which are currently underway to the device Parameters: speeds  a pointer to an array of uint8_t speeds with enough space for all motors. See also: BLUESENSE_MOTORCONTROLLER_MOTORCOUNT Note that each speed is a value between -128 and 127. -128 to -1 represent a speed left, 0 stand still and 1 to 127 a speed right, the actual physical speed depends on the specifications of the connected motor.

bool BlueSense::MotorDevice::getRequestSetSpeedsDone (   )  [inline]

Checks if the speed set request is finished Returns: true if request finished, false if request still busy

uint BlueSense::MotorDevice::getTimeOutUs (   )  [inline]

Returns the current set time out delay. The time out delay is used to check if a request was acknowledged in the set time. If an answer to a request is not received within the set time, the request is resent. Returns: the time out value in microseconds.

void BlueSense::MotorDevice::requestGetSpeeds (   )  [inline]

Sends a request to retrieve the current set speeds

void BlueSense::MotorDevice::requestSetSpeed (  PortEnum  port, char  speed )  [inline]

Requests the motor device to set one of its motors to a new speed Parameters: port  the output port. See also: PortEnum Parameters: speed  an uint8_t representing the new speed of the motor. Note that each speed is a value between -128 and 127. -128 to -1 represent a speed left, 0 stand still and 1 to 127 a speed right, the actual physical speed depends on the specifications of the connected motor.

void BlueSense::MotorDevice::requestSetSpeeds (  byte  relevantSpeeds, char[]  speeds )  [inline]

Requests the motor device to set its motors to new speeds Parameters: relevantSpeeds  a bit mask indicating which motors to update speeds  a pointer to an array of uint8_t speeds with enough space for all motors. See also: MOTORCOUNT Note that each speed is a value between -128 and 127. -128 to -1 represent a speed left, 0 stand still and 1 to 127 a speed right, the actual physical speed depends on the specifications of the connected motor.

void BlueSense::MotorDevice::setTimeOutUs (  uint  timeOutUs  )  [inline]

Sets the time out value which is used to check if a request was acknowledged in the set time. If an answer to a request is not received within the set time, the request is resent. Parameters: timeOutUs  the value in microseconds which is the maximum duraion between a request and its answer.

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Member Data Documentation

byte BlueSense::MotorDevice::MOTORCOUNT = (byte)bluesense.BLUESENSE_MOTORCONTROLLER_MOTORCOUNT [static]

The number of motors that can be controlled

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

• MotorDevice.cs

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