Drive Class Reference

Class Drive handels the Driving-System and provides basic functions. More...

#include <Drive.h>

Public Types
enum	Direction { Direction::Left, Direction::Right, Direction::Forward, Direction::Backward }
	Direction enum holds all possible directions. More...

Public Member Functions
	Drive (const int MotorPortRight, const int MotorPortLeft)
	Construct a new Drive object https://www.adafruit.com/product/2927. More...
void	drive (Direction direction, unsigned int speed)
	Drive straight Forwards or Backwards. More...
void	turn (Direction direction, unsigned int speed)
	Turn left or right. Speed will add to one Motor's actual speed and substract from the others depenig on which side it turns. More...
void	turnonpoint (Direction direction, unsigned int speed)
	Turn on Point Drive on Motor Forward and the other Backward with the given speed. More...
void	stop ()
	Power of the Motor. Does not apply breaking. More...

Private Member Functions
String	decodeDirection (Direction direction)
	Decodes the Direction-Enum and returns a description. More...

Private Attributes
Adafruit_MotorShield	pAFMS = Adafruit_MotorShield()
Adafruit_DCMotor *	pMotorRight
	Pointer to right Motor Obj. More...
Adafruit_DCMotor *	pMotorLeft
	Pointer to left Motor Obj. More...
int	pSpeedLeft
	actual Speed of left Motor More...
int	pSpeedRight
	actual Speed of right Motor More...
int	pTurnSpeedLeft
int	pTurnSpeedRight
Direction	pWayVehicle = Direction::Forward
	Actual movingdirection Forward or Backward. More...

Detailed Description

Class Drive handels the Driving-System and provides basic functions.

Definition at line 42 of file Drive.h.

Member Enumeration Documentation

Direction

enum Drive::Direction

strong

Direction enum holds all possible directions.

Enumerator
Left	Left.
Right	Right.
Forward	Forward.
Backward	Backward.

Definition at line 49 of file Drive.h.

Constructor & Destructor Documentation

Drive()

Drive::Drive	(	const int	MotorPortRight,
		const int	MotorPortLeft
	)

Construct a new Drive object https://www.adafruit.com/product/2927.

Parameters

MotorPortRight	- Port where the right Motor is connected on the MotorShield
MotorPortLeft	- Port where the left Motor is connected on the MotorShield

Todo:

Add a variable to compensate for differences in engine speed with the same control

Definition at line 21 of file Drive.cpp.

Member Function Documentation

drive()

void Drive::drive	(	Direction	direction,
		unsigned int	speed
	)

Drive straight Forwards or Backwards.

Parameters

direction	- Movingdirection Forward or Backward
speed	- Speed between 0 and 255

Definition at line 29 of file Drive.cpp.

turn()

void Drive::turn	(	Direction	direction,
		unsigned int	speed
	)

Turn left or right. Speed will add to one Motor's actual speed and substract from the others depenig on which side it turns.

Parameters

direction	- left or right
speed	- Speed between 0 and 255

Definition at line 53 of file Drive.cpp.

turnonpoint()

void Drive::turnonpoint	(	Direction	direction,
		unsigned int	speed
	)

Turn on Point Drive on Motor Forward and the other Backward with the given speed.

Parameters

direction	- left or right
speed	- Speed between 0 and 255

Definition at line 87 of file Drive.cpp.

stop()

void Drive::stop

(

)

Power of the Motor. Does not apply breaking.

Definition at line 110 of file Drive.cpp.

decodeDirection()

String Drive::decodeDirection ( Direction  direction )

private

Decodes the Direction-Enum and returns a description.

Parameters

direction

- enum Direction

Returns

String - State as String

Definition at line 124 of file Drive.cpp.

Member Data Documentation

pAFMS

Adafruit_MotorShield Drive::pAFMS = Adafruit_MotorShield()

private

Definition at line 96 of file Drive.h.

pMotorRight

Adafruit_DCMotor* Drive::pMotorRight

private

Pointer to right Motor Obj.

Definition at line 97 of file Drive.h.

pMotorLeft

Adafruit_DCMotor* Drive::pMotorLeft

private

Pointer to left Motor Obj.

Definition at line 98 of file Drive.h.

pSpeedLeft

int Drive::pSpeedLeft

private

actual Speed of left Motor

Definition at line 99 of file Drive.h.

pSpeedRight

int Drive::pSpeedRight

private

actual Speed of right Motor

Definition at line 100 of file Drive.h.

pTurnSpeedLeft

int Drive::pTurnSpeedLeft

private

Definition at line 101 of file Drive.h.

pTurnSpeedRight

int Drive::pTurnSpeedRight

private

Definition at line 102 of file Drive.h.

pWayVehicle

Direction Drive::pWayVehicle = Direction::Forward

private

Actual movingdirection Forward or Backward.

Definition at line 103 of file Drive.h.

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

• Drive.h
• Drive.cpp