comboDriver.Controller Class Reference

Controller class. More...

Public Member Functions
def	__init__ (self, motorUnit, encoders)
	Controller initializer. More...
def	goToPosition (self, motor, encoder, position)
	Gets the table to Position. More...
def	enableMotors (self)
	Enables motors. More...

Public Attributes
	motorBase
	Object from Motor Base class. More...
	motor1
	First motor. More...
	motor2
	Second motor. More...
	encoder1
	First Motor Encoder. More...
	encoder2
	Second Motor Encoder. More...
	max
	Max encoder value. More...

Detailed Description

Controller class.

Incorperates motor and encoder driver to create a position cotrolled motor

Constructor & Destructor Documentation

__init__()

def comboDriver.Controller.__init__	(		self,
			motorUnit,
			encoders
	)

Controller initializer.

Initializes the class and saves the necessary parameters as self.variables so that they may be used in different methods of the class.

Parameters

motorUnit	A MotorBase object consisting of 2 DC motors
encoders	A list of encoders associated with the the DC motors on the MotorBase

Member Function Documentation

enableMotors()

def comboDriver.Controller.enableMotors

(

self

)

Enables motors.

Enable both motors of the MotorBase by setting the sleep pin low

Parameters

None

goToPosition()

def comboDriver.Controller.goToPosition	(		self,
			motor,
			encoder,
			position
	)

Gets the table to Position.

Sets appropriate motor duty to achieve desired postion and makes sure we get there.

Parameters

motor	The motor to move to a desired position
encoder	The encoder associated wtih the motor
position	The desired position for the motor

Member Data Documentation

encoder1

comboDriver.Controller.encoder1

First Motor Encoder.

Encoder from the encoders tuple upon object creation

encoder2

comboDriver.Controller.encoder2

Second Motor Encoder.

Encoder from the encoders tuple upon object creation

max

comboDriver.Controller.max

Max encoder value.

Maximum value we wallow the encoder to reach

motor1

comboDriver.Controller.motor1

First motor.

Motor from the motor base class

motor2

comboDriver.Controller.motor2

Second motor.

Motor from the motor base class

motorBase

comboDriver.Controller.motorBase

Object from Motor Base class.

Contains two motors to be used

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

• comboDriver.py