#include <Motor.h>

Public Member Functions
	Motor (byte direction, byte pwm, byte tachPin)

void	setupMotor ()

void	runMotor (double percent)

double	turnPercentIntoPwm (double percent)

void	turnOffMotor ()

void	turnOnMotor ()

void	increasePercentage (double step)

void	decreasePercentage (double step)

void	interruptServiceRoutine ()

unsigned long	getRotationsPerMinute ()

byte	getTachAttachedPin ()

double	getPercentage ()

double	getDirection ()

bool	setMinimumUsablePercent (byte percent)

byte	getMinUsablePercent ()

byte	getMaxUsablePercent ()

bool	setMaxUsablePercent (byte percent)

Public Attributes
const byte	FULL_OFF = 255

const byte	FULL_ON = 0

double	percentage = 0

Detailed Description

Class to interact with each motor on the PCB The motor class also includes tachometer support which is used to get the RPM that the motor is running at

Written by Wade Varesio and Courtney McIntosh 05/13/2019

Constructor & Destructor Documentation

Motor::Motor	(	byte	direction,
		byte	pwm,
		byte	tachPin
	)

inline

Constructor to create a Motor object

Parameters

direction	- pin number that controls the direction of the motor
pwm	- pin number that the motor PWM pin is on. (Hint: Pulse Width Modulation AKA PWM is how you dim LEDs and control the motor)
tachPin	- pin number that the tachometer is attached to on the Arduino

Member Function Documentation

void Motor::setupMotor ( )

inline

Sets up Motor to spin.

Sets pinNumber and directionPin to be an OUTPUT, tachometer pin to be an input.

void Motor::runMotor ( double percent )

inline

Runs a motor at a given speed in percent

Makes the disc spin clockwise if percent is positive, and counterclockwise if it is negative. Calls the turnOnMotor function at a given percent.

Parameters

percent - the percent at which you want to run the motor.

double Motor::turnPercentIntoPwm ( double percent )

inline

Takes a percentage in the form of a double and turns it into a PWM signal for motor control.

A percentage value of 0 is off (returns a PWM value of 255), and 100 is fully on (returns a PWM value of 0).

Parameters

percent - the percentage value to be converted to a PWM value.

Returns: returns the conversion of the percent in a PWM value

void Motor::turnOffMotor ( )

inline

Turn the motor completely off

void Motor::turnOnMotor ( )

inline

Turn the motor completely on

void Motor::increasePercentage ( double step )

inline

Increases percentage the motor is running at

Calls the runMotor function at this new percentage.

Parameters

step	- the amount you want the percentage to increase by.

void Motor::decreasePercentage ( double step )

inline

Decreases percentage

Subtracts .25 from the value of percentage. Calls the runMotor function at this new percentage.

Parameters

step	- the amount you want the percentage to increase by.

void Motor::interruptServiceRoutine ( )

inline

Interrupt service routine for the Tachometer

ISR for when the pin falls low, this is necessary to get a measurement and convert into the RPM of the motor.

unsigned long Motor::getRotationsPerMinute ( )

inline

Returns: the motors current rotations per minute

byte Motor::getTachAttachedPin ( )

inline

Returns: the attached Tachometer pin

double Motor::getPercentage ( )

inline

Get the motors current percentage

Returns: percentage the motor is running at

double Motor::getDirection ( )

inline

Get the direction that the motor is spinning in

Returns: the direction that the motor is spinning in 1 clockwise, 0 counterclockwise

bool Motor::setMinimumUsablePercent ( byte percent )

inline

Set the minimum percentage required to run a motor. This should ONLY be called if your motor requires a higher minimum than the normal 40%.

Parameters

percent new minimum motor percentage. Must be less than 100 and non negative or the request will be ignored.

Returns: true if percent is valid and the min usable percentage was set, false otherwise

byte Motor::getMinUsablePercent ( )

inline

Get the minimum usable percent the motor is able to run at

Returns: the current minimum percentage of power required to run a motor

byte Motor::getMaxUsablePercent ( )

inline

Get the maximum usable percent of power the motor is able to run at

Returns: Max percent of power the motor is able to run at

bool Motor::setMaxUsablePercent ( byte percent )

inline

Set the maximum usable percentage the motor will run at. This should only be called when a motor requires a special maximum power limit

Parameters

percent the new maximum percentage a motor is allowed to run at. Percent must be greater than minUsablePercent (defaults to 40) and less or equal to 100.

Returns: true if percent is valid and the motors max usable percent was set, false otherwise

Member Data Documentation

const byte Motor::FULL_OFF = 255

The signal is inverted therefore FULL_OFF is 255

const byte Motor::FULL_ON = 0

The signal is inverted therefore FULL_ON is 0

double Motor::percentage = 0

The percentage of power that the motor is running at

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

KineticSculptureArchitecture/Motor.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation