`EvoMotorPair`#

class EvoMotorPair#: A class to control a pair of EvoMotors synchronously.

Initialisation & Setup

EvoMotorPair::EvoMotorPair(EvoMotor *m1, EvoMotor *m2, EvoIMU *imu = nullptr)#

Constructor to initialize a motor pair.

Parameters:

m1 – Pointer to the first EvoMotor.
m2 – Pointer to the second EvoMotor.
imu – Pointer to the EvoIMU sensor.

void EvoMotorPair::setStartSpeed(int startSpeed)#

Sets the start speed for the motors.

Parameters:: startSpeed – The minimum speed value.

void EvoMotorPair::setEndSpeed(int endSpeed)#

Sets the end speed for the motors.

Parameters:: endSpeed – The minimum speed value.

void EvoMotorPair::setAcceleration(int accel)#

Sets the acceleration parameters.

Parameters:: accel – The acceleration factor.

int EvoMotorPair::getAcceleration()#

Gets the current acceleration parameters.

Returns:: The acceleration factor.

void EvoMotorPair::setDeceleration(int decel)#

Sets the deceleration parameters.

Parameters:: decel – The deceleration factor.

int EvoMotorPair::getDeceleration()#

Gets the current deceleration parameters.

Returns:: The deceleration factor.

void EvoMotorPair::setSyncPID(int kp, int ki, int kd)#

Sets the proportional-integral-derivative (PID) control parameters for the motor pairing.

Parameters:

kp – The proportional gain.
ki – The integral gain.
kd – The derivative gain.

void EvoMotorPair::setGyroPID(float kp, float ki, float kd)#

Sets the proportional-integral-derivative (PID) control parameters for the gyro.

Parameters:

kp – The proportional gain.
ki – The integral gain.
kd – The derivative gain.

void EvoMotorPair::setStopBehavior(MotorStop stopBehavior)#

Sets the stopping behavior for the motors.

Parameters:: stopBehavior – The stopping behavior (HOLD, BRAKE, or COAST).

Control Functions

void EvoMotorPair::move(int leftSpeed, int rightSpeed)#

Moves the motors at the specified speeds.

Parameters:

leftSpeed – Speed for the left motor.
rightSpeed – Speed for the right motor.

void EvoMotorPair::moveDegrees(int leftSpeed, int rightSpeed, int degrees, MotorStop stopBehaviour = MotorStop::HOLD)#

Moves the motors a specified number of degrees.

Parameters:

leftSpeed – Speed for the left motor.
rightSpeed – Speed for the right motor.
degrees – The number of degrees to move.
stopBehaviour – The stopping behavior after movement (HOLD, BRAKE, or COAST) Default is hold.

void EvoMotorPair::moveTime(int leftSpeed, int rightSpeed, int timems, int slowdowntime = 200, MotorStop stopBehaviour = MotorStop::HOLD)#

Moves the motors for a specified duration.

Parameters:

leftSpeed – Speed for the left motor.
rightSpeed – Speed for the right motor.
timems – Duration in milliseconds.
slowdowntime – Duration where the motors start to slow down.
stopBehaviour – The stopping behavior after movement (HOLD, BRAKE, or COAST) Default is hold.

void EvoMotorPair::StraightDegreesIMU(int motorSpeed, int degrees, int heading = -1, MotorStop stopBehaviour = MotorStop::HOLD)#

Moves the motors following a Condition with the IMU.

Parameters:

motorSpeed – Speed for the motors.
degrees – The number of degrees to move.
heading – The target heading angle. If -1, the current heading is maintained.
stopBehaviour – The stopping behavior after movement (HOLD, BRAKE, or COAST) Default is hold.

void EvoMotorPair::spotTurnGyro(int motorSpeed, float heading, bool reset = true, MotorStop stopBehaviour = MotorStop::HOLD)#

Performs a spot turn to a specific heading using the IMU.

Parameters:

motorSpeed – The speed of the turn.
heading – The target heading angle.
reset – Settign true will reset the IMU heading.
stopBehaviour – The stopping behavior after movement (HOLD, BRAKE, or COAST).

void EvoMotorPair::stop()#: Stops both motors based on the stop behavior.

void EvoMotorPair::brake()#: Applies braking to both motors.

void EvoMotorPair::coast()#: Coasts both motors to a stop.

void EvoMotorPair::hold()#: Holds the current position of both motors.

void EvoMotorPair::resetAngle()#: Resets both motor angles to zero.

EvoMotorPair#

`EvoMotorPair`#