BrushedMotor< T > Class Template Reference

High-level H-Bridge motor driver class for bidirectional DC motor control. More...

#include <BrushedMotor.h>

Inheritance diagram for BrushedMotor< T >:

Collaboration diagram for BrushedMotor< T >:

Public Member Functions
	BrushedMotor (uint8_t id=0)
	Empty constructor for late pin assignment.
void	setPins (int pin1, int pin2, int pwmFreq=20000)
	Set the pins for the HBridge after construction.
bool	begin ()
void	setConstraints (T minSpeed, T maxSpeed)
void	setReverse (bool reverse)
	Invert the direction logic.
bool	setValuePercent (T percent) override
T	getValuePercent () const override
void	end () override
bool	isPinsSet () const
	Check if the control pins have been set (i.e., not -1).
Public Member Functions inherited from IMotor< T >
virtual bool	begin ()=0
virtual void	end ()=0
virtual bool	isPinsSet () const =0
virtual bool	setValuePercent (T percent)=0
virtual T	getValuePercent () const =0
void	setID (uint8_t id)
uint8_t	getID () const

Protected Member Functions
bool	stop ()
void	setSpeedValue (float speed)

Protected Attributes
int	pinIn1 = -1
int	pinIn2 = -1
T	minSpeed = -255
T	maxSpeed = 255
int	pwmFreq = 20000
bool	is_reverse = false
T	lastValuePercent = 0.0f
Protected Attributes inherited from IMotor< T >
uint8_t	id = 0

Detailed Description

template<typename T = float>
class tinyrobotics::BrushedMotor< T >

High-level H-Bridge motor driver class for bidirectional DC motor control.

This class provides an easy interface for controlling a DC motor using a standard H-Bridge driver (e.g., L298N, L293D, TB6612FNG). It supports:

• Forward, reverse, and stop (brake) control
• PWM speed control (signed, -255 to 255 or limited by setConstraints)
• Speed setting in percent (-100 to 100)
• Optional PWM frequency configuration (if supported by platform)
• Speed limiting for safety or motor tuning

Usage Example:

HBridge motor(5, 6); // IN1=5, IN2=6,
motor.setConstraints(-200, 200); // Limit speed range
motor.setSpeed(50);        // Half speed forward
motor.setSpeed(-50);       // Half speed reverse
motor.stop();               // Brake

Note

If your platform does not support analogWriteFreq, the default PWM frequency will be used.

Member Function Documentation

begin()

bool begin ( )

inlinevirtual

Implements IMotor< T >.

end()

void end ( )

inlineoverridevirtual

Stop the motor (brake)

Implements IMotor< T >.

getValuePercent()

T getValuePercent ( ) const

inlineoverridevirtual

Implements IMotor< T >.

isPinsSet()

bool isPinsSet ( ) const

inlinevirtual

Check if the control pins have been set (i.e., not -1).

Implements IMotor< T >.

setConstraints()

void setConstraints ( T  minSpeed, T  maxSpeed  )

inline

Constrain the speed range to a subset of -255..255. This can be used to limit the maximum speed for safety or to match the characteristics of a specific motor.

setSpeedValue()

void setSpeedValue ( float  speed )

inlineprotected

Set motor speed and direction. Speed: -255 (full reverse) to 255 (full forward)

setValuePercent()

bool setValuePercent ( T  percent )

inlineoverridevirtual

Set motor speed as a percentage (-100 to 100).

Parameters

percent

Speed percentage: -100 (full reverse) to 100 (full forward)

Implements IMotor< T >.

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

• src/TinyRobotics/motors/BrushedMotor.h