GenericMotor< T > Class Template Reference

Motor abstraction for integrating external/custom motor drivers using callbacks. More...

#include <GenericMotor.h>

Inheritance diagram for GenericMotor< T >:

Collaboration diagram for GenericMotor< T >:

Public Member Functions
	GenericMotor (uint8_t id, void *driver=nullptr)
bool	begin () override
	Start the motor using the optional begin callback.
bool	setValuePercent (T percent) override
	Set value as percentage (-100 to 100)
T	getValuePercent () const override
	Get current value percentage.
void	setAngle (T angle)
	For Servo: Set angle in degrees (-90 to 90) by mapping it to percentage.
T	getAngle ()
	For Servo: Get angle in degrees by mapping percentage back to angle.
void	end () override
	Stop the motor using the optional end callback.
void	setValueCallback (void(*valueCB)(T value, GenericMotor &motor))
	Mandatory callback to define speed/angle control behavior.
void	setBeginCallback (bool(*beginCB)(GenericMotor &motor))
	Optional callback to define begin behavior.
void	setEndCallback (void(*endCB)(GenericMotor &motor))
	Optional callback to define end behavior.
template<typename DriverT >
DriverT &	getDriver ()
	Provides the user motor object.
bool	isPinsSet () const override
	Not supported.
void	setPin (int pin)
	Not supported.
void	setPins (int, int, int na=-1)
	Not supported.
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
void	notSupported (const char *method)
	Log an error for unsupported methods.

Static Protected Member Functions
static void	defaultEnd (GenericMotor &motor)
	Default logic for end processing: just stop the motor!

Protected Attributes
void *	driver = nullptr
T	value = 0.0f
bool(*	beginCB )(GenericMotor &motor) = nullptr
void(*	endCB )(GenericMotor &motor)=defaultEnd
void(*	valueCB )(T value, GenericMotor &motor)
Protected Attributes inherited from IMotor< T >
uint8_t	id = 0

Detailed Description

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

Motor abstraction for integrating external/custom motor drivers using callbacks.

This class provides a flexible interface for controlling motors that do not fit the standard interface. The user supplies an external motor object (as a void pointer) and callback functions for starting/stopping the motor and for setting the speed or angle. This allows integration of custom motor drivers or hardware with the TinyRobotics framework.

• The valueCB callback is mandatory and is called with the desired speed or angle value.
• The beginCB and endCB callbacks are optional and can be used to define custom start/stop logic.
• The user motor object can be accessed via getMotor<T>().

Example usage:

MyMotorDriver driver;
GenericMotor motor(0, &driver);
motor.setValueCallback([](int8_t value, GenericMotor& m) {
  MyMotorDriver* drv = m.getMotor<MyMotorDriver>();
  drv->setPWM(value);
});
motor.setBeginCallback([](GenericMotor& m) {
  // Custom start logic
  return true;
});
motor.setEndCallback([](GenericMotor& m) {
  // Custom stop logic
});

Member Function Documentation

begin()

bool begin ( )

inlineoverridevirtual

Start the motor using the optional begin callback.

Implements IMotor< T >.

end()

void end ( )

inlineoverridevirtual

Stop the motor using the optional end callback.

Implements IMotor< T >.

getValuePercent()

T getValuePercent ( ) const

inlineoverridevirtual

Get current value percentage.

Implements IMotor< T >.

isPinsSet()

bool isPinsSet ( ) const

inlineoverridevirtual

Not supported.

Implements IMotor< T >.

setValuePercent()

bool setValuePercent ( T  percent )

inlineoverridevirtual

Set value as percentage (-100 to 100)

Implements IMotor< T >.

Member Data Documentation

valueCB

void(* valueCB) (T value, GenericMotor &motor)

protected

Initial value:

=
      nullptr

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

• src/TinyRobotics/motors/GenericMotor.h