TachoMotor

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Object Hierarchy:

Description:

Content:

Properties:

• public string[]? commands { owned get; }
  Get a list of supported commands.
• public int count_per_rot { get; }
  Gets the number of tachometer counts in one rotation of the motor.
• public string? driver_name { owned get; }
  Gets the name of the driver used by the motor.
• public int duty_cycle { get; }
  Gets the current duty cycle the motor controller is sending to the motor.
• public int duty_cycle_sp { set; get; }
  Gets and sets the duty cycle setpoint.
• public MotorPolarity encoder_polarity { set; get; }
  Gets and sets the shaft encoder polarity of the motor.
• public int hold_position_p { set; get; }
  Gets and sets the position PID constant for the hold PID.
• public int hold_position_i { set; get; }
  Gets and sets the integral PID constant for the hold PID.
• public int hold_position_d { set; get; }
  Gets and sets the derivative PID constant for the hold PID.
• public MotorPolarity polarity { set; get; }
  Gets and sets the polarity of the motor.
• public string? port_name { owned get; }
  Gets the name of the port the motor is connected to.
• public int position { set; get; }
  Gets and sets the position of the motor.
• public int position_sp { set; get; }
  Gets and sets the position setpoint.
• public int speed { get; }
  Gets the current speed of the motor.
• public int speed_sp { set; get; }
  Gets and sets the speed setpoint.
• public int ramp_down_sp { set; get; }
  Gets the ramp down time setpoint.
• public int ramp_up_sp { set; get; }
  Gets the ramp up time setpoint.
• public bool speed_regulation { set; get; }
  Gets and sets the speed regulation control state.
• public int speed_regulation_p { set; get; }
  Gets and sets the proportional PID constant for the speed regulation PID.
• public int speed_regulation_i { set; get; }
  Gets and sets the integral PID constant for the speed regulation PID.
• public int speed_regulation_d { set; get; }
  Gets and sets the derivative PID constant for the speed regulation PID.
• public MotorStateFlags state { get; }
  Gets flags that indicate the state of the motor.
• public string stop_command { owned get; }
  Gets the current stop command.
• public string[]? stop_commands { owned get; }
  Gets a list of supported stop commands.
• public int time_sp { set; get; }
  Gets and sets the time setpoint.

Methods:

• public void send_command (string command) throws Error
  Send a command to the motor controller.
• public void set_stop_command (string command) throws Error
  Set the stop command for the motor.

Inherited Members: