#include <Motor.hpp>

Inheritance diagram for libstp::hal::motor::Motor:

Collaboration diagram for libstp::hal::motor::Motor:

Public Member Functions
	Motor (int port, bool inverted, const foundation::MotorCalibration &calibration={})
	~Motor () override
void	setSpeed (int percent) override
	Open-loop percent output in the range expected by the platform driver.
void	setVelocity (int velocity) override
	Closed-loop velocity target in firmware-specific BEMF units.
void	moveToPosition (int velocity, int goalPosition) override
	Closed-loop absolute move in firmware-specific position units.
void	moveRelative (int velocity, int deltaPosition) override
	Closed-loop relative move in firmware-specific position units.
int	getPosition () const override
	Return the current motor position using the driver's sign convention.
int	getBemf () const override
	Return the driver's current BEMF or velocity-like feedback value.
bool	isDone () const override
	Return whether the last position command has completed.
void	brake () override
	Actively stop this motor using the platform's safest available path.
void	off () override
	Disable this motor completely (no power, no brake — free-spinning).
void	resetPositionCounter () override
	Reset the position counter to zero.
const foundation::MotorCalibration &	getCalibration () const override
void	setCalibration (const foundation::MotorCalibration &calibration) override
int	getPort () const override
bool	isInverted () const override
void	setFirmwarePidGains (float kp, float ki, float kd) override
void	setSimulatedBemfResponse (int steady_state_bemf, double time_constant_s)
void	clearSimulatedBemfResponse ()
	Disable the simulated BEMF response (mock platform only).
void	getLastFirmwarePidGains (float &kp, float &ki, float &kd) const override
Public Member Functions inherited from libstp::hal::motor::IMotor
virtual	~IMotor ()=default

Static Public Member Functions
static void	disableAll ()
	Put every motor managed by the active platform into its disabled state.
static void	enableAll ()
	Re-enable globally disabled motors when the platform supports it.

Detailed Description

Concrete motor wrapper whose method bodies are provided by the selected platform bundle.

The public contract here is what higher-level modules and Python bindings program against. Shared process-wide safety behavior, such as duplicate port tracking and fail-safe shutdown hooks, lives in libstp-hal.

Definition at line 19 of file Motor.hpp.

Constructor & Destructor Documentation

◆ Motor()

libstp::hal::motor::Motor::Motor	(	int	port,
		bool	inverted,
		const foundation::MotorCalibration &	calibration = {} )

explicit

Construct a motor on the given port.

inverted flips command and feedback sign conventions so callers can keep chassis-level logic independent of wiring direction.

◆ ~Motor()

libstp::hal::motor::Motor::~Motor ( )

override

Member Function Documentation

◆ brake()

void libstp::hal::motor::Motor::brake ( )

overridevirtual

Actively stop this motor using the platform's safest available path.

Implements libstp::hal::motor::IMotor.

◆ clearSimulatedBemfResponse()

void libstp::hal::motor::Motor::clearSimulatedBemfResponse ( )

Disable the simulated BEMF response (mock platform only).

◆ disableAll()

void libstp::hal::motor::Motor::disableAll ( )

static

Put every motor managed by the active platform into its disabled state.

◆ enableAll()

void libstp::hal::motor::Motor::enableAll ( )

static

Re-enable globally disabled motors when the platform supports it.

◆ getBemf()

int libstp::hal::motor::Motor::getBemf ( ) const

nodiscardoverridevirtual

Return the driver's current BEMF or velocity-like feedback value.

Implements libstp::hal::motor::IMotor.

◆ getCalibration()

const foundation::MotorCalibration & libstp::hal::motor::Motor::getCalibration ( ) const

nodiscardoverridevirtual

Implements libstp::hal::motor::IMotor.

◆ getLastFirmwarePidGains()

void libstp::hal::motor::Motor::getLastFirmwarePidGains	(	float &	kp,
		float &	ki,
		float &	kd ) const

overridevirtual

Read back the gains most recently passed to setFirmwarePidGains(). Useful for asserting tuner behavior in unit tests.

Reimplemented from libstp::hal::motor::IMotor.

◆ getPort()

int libstp::hal::motor::Motor::getPort ( ) const

inlinenodiscardoverridevirtual

Implements libstp::hal::motor::IMotor.

Definition at line 64 of file Motor.hpp.

◆ getPosition()

int libstp::hal::motor::Motor::getPosition ( ) const

nodiscardoverridevirtual

Return the current motor position using the driver's sign convention.

Implements libstp::hal::motor::IMotor.

◆ isDone()

bool libstp::hal::motor::Motor::isDone ( ) const

nodiscardoverridevirtual

Return whether the last position command has completed.

Implements libstp::hal::motor::IMotor.

◆ isInverted()

bool libstp::hal::motor::Motor::isInverted ( ) const

inlinenodiscardoverridevirtual

Implements libstp::hal::motor::IMotor.

Definition at line 65 of file Motor.hpp.

◆ moveRelative()

void libstp::hal::motor::Motor::moveRelative	(	int	velocity,
		int	deltaPosition )

overridevirtual

Closed-loop relative move in firmware-specific position units.

Implements libstp::hal::motor::IMotor.

◆ moveToPosition()

void libstp::hal::motor::Motor::moveToPosition	(	int	velocity,
		int	goalPosition )

overridevirtual

Closed-loop absolute move in firmware-specific position units.

Implements libstp::hal::motor::IMotor.

◆ off()

void libstp::hal::motor::Motor::off ( )

overridevirtual

Disable this motor completely (no power, no brake — free-spinning).

Implements libstp::hal::motor::IMotor.

◆ resetPositionCounter()

void libstp::hal::motor::Motor::resetPositionCounter ( )

overridevirtual

Reset the position counter to zero.

Implements libstp::hal::motor::IMotor.

◆ setCalibration()

void libstp::hal::motor::Motor::setCalibration ( const foundation::MotorCalibration & calibration )

overridevirtual

Implements libstp::hal::motor::IMotor.

◆ setFirmwarePidGains()

void libstp::hal::motor::Motor::setFirmwarePidGains	(	float	kp,
		float	ki,
		float	kd )

overridevirtual

Push per-motor firmware-side velocity PID gains.

On wombat this publishes to the STM32; on the mock platform the gains are stored for getLastFirmwarePidGains().

Reimplemented from libstp::hal::motor::IMotor.

◆ setSimulatedBemfResponse()

void libstp::hal::motor::Motor::setSimulatedBemfResponse	(	int	steady_state_bemf,
		double	time_constant_s )

Configure a simulated first-order BEMF step response. When active (mock platform only), getBemf() returns steady_state * (1 - exp(-t / time_constant_s)) where t is the time since the last setVelocity() call.

◆ setSpeed()

void libstp::hal::motor::Motor::setSpeed ( int percent )

overridevirtual

Open-loop percent output in the range expected by the platform driver.

Implements libstp::hal::motor::IMotor.

◆ setVelocity()

void libstp::hal::motor::Motor::setVelocity ( int velocity )

overridevirtual

Closed-loop velocity target in firmware-specific BEMF units.

Implements libstp::hal::motor::IMotor.

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

/home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-hal/include/hal/Motor.hpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Motor()

◆ ~Motor()

Member Function Documentation

◆ brake()

◆ clearSimulatedBemfResponse()

◆ disableAll()

◆ enableAll()

◆ getBemf()

◆ getCalibration()

◆ getLastFirmwarePidGains()

◆ getPort()

◆ getPosition()

◆ isDone()

◆ isInverted()

◆ moveRelative()

◆ moveToPosition()

◆ off()

◆ resetPositionCounter()

◆ setCalibration()

◆ setFirmwarePidGains()

◆ setSimulatedBemfResponse()

◆ setSpeed()

◆ setVelocity()