#include <motor_adapter.hpp>

Public Member Functions
	MotorAdapter (hal::motor::IMotor *motor)
void	setVelocity (double w_ref, double dt, bool *out_saturated=nullptr)
double	getVelocity () const
void	brake ()
void	resetEncoderTracking ()
	Reset encoder position tracking to prevent stale deltas.
hal::motor::IMotor &	motor ()
const hal::motor::IMotor &	motor () const
void	updateEncoderVelocity (double dt)

Detailed Description

Adapter from IMotor to drive-module velocity conventions.

The adapter translates wheel angular velocity targets into the firmware's BEMF units and maintains a filtered encoder-based velocity estimate for higher-level kinematics.

Definition at line 13 of file motor_adapter.hpp.

Constructor & Destructor Documentation

◆ MotorAdapter()

libstp::drive::MotorAdapter::MotorAdapter ( hal::motor::IMotor * motor )

explicit

Parameters

motor Non-owning pointer to the wrapped motor interface.

Member Function Documentation

◆ brake()

void libstp::drive::MotorAdapter::brake ( )

Command an immediate motor brake.

◆ getVelocity()

double libstp::drive::MotorAdapter::getVelocity ( ) const

nodiscard

Return the low-pass filtered encoder velocity estimate in rad/s.

◆ motor() [1/2]

hal::motor::IMotor & libstp::drive::MotorAdapter::motor ( )

Access the wrapped motor interface.

◆ motor() [2/2]

const hal::motor::IMotor & libstp::drive::MotorAdapter::motor ( ) const

nodiscard

◆ resetEncoderTracking()

void libstp::drive::MotorAdapter::resetEncoderTracking ( )

Reset encoder position tracking to prevent stale deltas.

Call this after resetting odometry or position counters so the next update doesn't compute a velocity from a pre-reset baseline.

◆ setVelocity()

void libstp::drive::MotorAdapter::setVelocity	(	double	w_ref,
		double	dt,
		bool *	out_saturated = nullptr )

Send a wheel angular velocity target in rad/s.