aruna::driver::Pwm Class Reference

#include <Pwm.h>

Inheritance diagram for aruna::driver::Pwm:

Collaboration diagram for aruna::driver::Pwm:

Public Member Functions
err_t	set_frequency (uint32_t frequency_hz)
	Set frequency of PWM in hertz. More...
uint32_t	get_frequency () const
	Get the frequency used in hertz. More...
err_t	set_duty (float duty_percentage)
	Set the duty cycle on time in percentage. More...
err_t	set_duty (uint16_t duty)
	Set the duty cycle on time (16bit). More...
float	get_duty_per () const
	Get the duty cycle on time in percentage. More...
uint16_t	get_duty () const
	Get the duty cycle on time (16bit) More...
Public Member Functions inherited from aruna::movement::Actuator
	Actuator (axis_mask_t axis=axis_mask_t::NONE)
	Actuator object, used by the movement module for vehicle movement. More...
virtual	~Actuator ()
err_t	set_axis (axis_mask_t new_axis)
	Set the axis that this Actuator is capable in moving in. More...
axis_mask_t	get_axis ()
	get the movement modes that this driver supports. More...
err_t	set (axis_mask_t axisMask, int16_t speed)
	Set the speed of the motors directly. More...
uint16_t	get_speed ()
	Get the current speed of Actuator. More...

Private Member Functions
virtual err_t	_set_frequency (uint32_t frequency_hz)=0
virtual err_t	_set_duty (uint16_t duty)=0
err_t	_set (movement::axis_mask_t axisMask, int16_t speed) override
	Implementation of axis movement, this function is called from set(...). More...

Private Attributes
uint32_t	frequency_hz
uint16_t	duty

Additional Inherited Members
Public Attributes inherited from aruna::movement::Actuator
err_t	startup_error = err_t::NOT_STARTED
	error when constructing gets put here, read before usage. More...
Static Protected Member Functions inherited from aruna::movement::Actuator
static double	convert_range (uint16_t input, float range_max=100.f, float range_min=0.f)
	Convert uint16 to a new range. More...

Detailed Description

Definition at line 13 of file Pwm.h.

Member Function Documentation

_set()

err_t Pwm::_set ( movement::axis_mask_t  axisMask, int16_t  speed  )

overrideprivatevirtual

Implementation of axis movement, this function is called from set(...).

Only gets called when axisMask match axis of Actuator.

Parameters

axisMask	axis (can be multiple) to set speed to.
speed	desired speed.

Returns

err_t::OK if successful, others when not...

Implements aruna::movement::Actuator.

Definition at line 44 of file Pwm.cpp.

                                                           {
//    TODO allow for min and max duty_cycle
//    TODO multi directional pwm
//    TODO startup_error is not set to OK. Set to standard to OK, remove all together or standalize.
    return set_duty((uint16_t)speed);
}

_set_duty()

virtual err_t aruna::driver::Pwm::_set_duty ( uint16_t  duty )

privatepure virtual

Implemented in aruna::driver::PCA9685, and aruna::driver::ESP32_MCPwm.

_set_frequency()

virtual err_t aruna::driver::Pwm::_set_frequency ( uint32_t  frequency_hz )

privatepure virtual

Implemented in aruna::driver::PCA9685, and aruna::driver::ESP32_MCPwm.

get_duty()

uint16_t Pwm::get_duty

(

)

const

Get the duty cycle on time (16bit)

Returns

on time (16bit)

Definition at line 11 of file Pwm.cpp.

                             {
    return duty;
}

get_duty_per()

float Pwm::get_duty_per

(

)

const

Get the duty cycle on time in percentage.

Returns

on time (0-100)

Definition at line 19 of file Pwm.cpp.

                              {
    return duty / 65535 * 100;
}

get_frequency()

uint32_t Pwm::get_frequency

(

)

const

Get the frequency used in hertz.

Returns

frequency in hertz

Definition at line 15 of file Pwm.cpp.

                                  {
    return frequency_hz;
}

set_duty() [1/2]

err_t Pwm::set_duty

(

float

duty_percentage

)

Set the duty cycle on time in percentage.

Parameters

duty_percentage

value from 0 to 100

Returns

err_t::OK if it whent well.

Definition at line 23 of file Pwm.cpp.

                                         {
    uint16_t duty = round(duty_percentage / 100 * 65535);
    return set_duty(duty);
}

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set_duty() [2/2]

err_t Pwm::set_duty

(

uint16_t

duty

)

Set the duty cycle on time (16bit).

Parameters

duty	pwm on time

Returns

err_t::OK if successfull.

Definition at line 36 of file Pwm.cpp.

                                 {
    err_t err = _set_duty(duty);
    if (err == err_t::OK) {
        this->duty = duty;
    }
    return err;
}

set_frequency()

err_t Pwm::set_frequency

(

uint32_t

frequency_hz

)

Set frequency of PWM in hertz.

Parameters

frequency_hz

frequency for pwm (might be set on multiple pwm objects)

Returns

unspecified aruna error

Definition at line 28 of file Pwm.cpp.

                                              {
    err_t err = _set_frequency(frequency_hz);
    if (err == err_t::OK) {
        this->frequency_hz = frequency_hz;
    }
    return err;
}

Member Data Documentation

duty

uint16_t aruna::driver::Pwm::duty

private

Definition at line 16 of file Pwm.h.

frequency_hz

uint32_t aruna::driver::Pwm::frequency_hz

private

Definition at line 15 of file Pwm.h.

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

• include/aruna/driver/Pwm.h
• src/driver/Pwm.cpp