A DC motor driven through an H-bridge, with an optional enable pin and a wheel alignment used when steering. More...

#include <Motor.h>

Inheritance diagram for RumPi::Motor:

Collaboration diagram for RumPi::Motor:

Public Member Functions
	Motor (const unsigned int driveOnePinNumber, const unsigned int driveTwoPinNumber, const MotorAlignment alignment=MotorAlignment::None)
	Builds a motor driven by two drive pins, assuming the enable pin is always powered. More...

	Motor (const unsigned int enablePinNumber, const unsigned int driveOnePinNumber, const unsigned int driveTwoPinNumber, const MotorAlignment alignment=MotorAlignment::None)
	Builds a motor driven by two drive pins and gated by an explicit enable pin. More...

virtual	~Motor () override
	Destroys the motor, turning it off first. More...

virtual void	TurnOn () override
	Turns the motor on by enabling the H-bridge chip (no motion until a Move call). More...

virtual void	TurnOff () override
	Turns the motor off by disabling the enable pin and driving both drive pins low. More...

virtual void	ProcessRawValues () override
	No-op: a motor is an output device with no raw values to process. More...

virtual std::string	ToString () const override
	Serializes the motor's enable/drive pins and alignment to a string. More...

virtual void	MoveForward ()
	Drives the motor forward, enabling the H-bridge first. More...

virtual void	MoveBackward ()
	Drives the motor backward, enabling the H-bridge first. More...

unsigned int	GetEnablePinNumber () const
	Gets the H-bridge enable pin (UINT_MAX if the enable pin is always powered). More...

unsigned int	GetDriveOnePinNumber () const
	Gets the first H-bridge drive pin. More...

unsigned int	GetDriveTwoPinNumber () const
	Gets the second H-bridge drive pin. More...

MotorAlignment	GetAlignment () const
	Gets this motor's alignment on the vehicle. More...

Public Member Functions inherited from RumPi::BaseComponent
	BaseComponent ()
	Builds a base component with an unknown type and an empty name. More...

virtual	~BaseComponent ()
	Virtual destructor so deleting a component through a BaseComponent* also cleans up the concrete subclass. More...

virtual void	TurnOn ()=0
	Turns the component on (e.g. More...

virtual void	TurnOff ()=0
	Turns the component off. More...

virtual std::string	ToString () const =0
	Serializes the component's current readings to a string (usually JSON). More...

virtual void	ProcessRawValues ()=0
	Reads and processes the component's latest raw values (called once per poll). More...

virtual EComponentType	GetComponentType () const
	Gets the component's type. More...

const std::string &	GetName () const
	Gets the component's unique per-instance name. More...

void	SetName (const std::string &name)
	Sets the component's unique per-instance name. More...

Private Attributes
unsigned int	myEnablePinNumber
	The H-bridge enable pin (UINT_MAX if the enable pin is always powered). More...

unsigned int	myDriveOnePinNumber
	The first H-bridge drive pin. More...

unsigned int	myDriveTwoPinNumber
	The second H-bridge drive pin. More...

MotorAlignment	myAlignment
	This motor's alignment on the vehicle (used when steering). More...

Additional Inherited Members
Static Public Member Functions inherited from RumPi::BaseComponent
static std::string	ComponentTypeToString (const EComponentType theComponentTypeToConvert)
	Maps an EComponentType to its string name. More...

static EComponentType	StringToComponentType (const std::string &theComponentTypeName)
	Maps a type name back to its EComponentType (the inverse of ComponentTypeToString), so the client can turn the type carried on the wire back into a value it can look an icon up with. More...

Protected Attributes inherited from RumPi::BaseComponent
EComponentType	myComponentType
	The kind of component this is (set by each concrete subclass). More...

std::string	myName
	A unique per-instance name, assigned when the component is added to the manager. More...

Detailed Description

A DC motor driven through an H-bridge, with an optional enable pin and a wheel alignment used when steering.

Author: Eddie O'Hagan

Date: 8/13/2026

Constructor & Destructor Documentation

◆ Motor() [1/2]

RumPi::Motor::Motor	(	const unsigned int	driveOnePinNumber,
		const unsigned int	driveTwoPinNumber,
		const MotorAlignment	alignment = `MotorAlignment::None`
	)

Builds a motor driven by two drive pins, assuming the enable pin is always powered.

Author: Eddie O'Hagan

Date: 8/13/2026

Motor motor(PIN_GPIO_23, PIN_GPIO_24, MotorAlignment::Left);

RumPi::Motor::Motor

Motor(const unsigned int driveOnePinNumber, const unsigned int driveTwoPinNumber, const MotorAlignment alignment=MotorAlignment::None)

Builds a motor driven by two drive pins, assuming the enable pin is always powered.

Definition: Motor.cpp:20

RumPi::PIN_GPIO_23

constexpr unsigned int PIN_GPIO_23

BCM GPIO pin 23.

Definition: Common.h:49

RumPi::PIN_GPIO_24

constexpr unsigned int PIN_GPIO_24

BCM GPIO pin 24.

Definition: Common.h:50

RumPi::Left

@ Left

Definition: Motor.h:14

Parameters

[in]	driveOnePinNumber	The first H-bridge drive pin.
[in]	driveTwoPinNumber	The second H-bridge drive pin.
[in]	alignment	This motor's alignment on the vehicle.

◆ Motor() [2/2]

RumPi::Motor::Motor	(	const unsigned int	enablePinNumber,
		const unsigned int	driveOnePinNumber,
		const unsigned int	driveTwoPinNumber,
		const MotorAlignment	alignment = `MotorAlignment::None`
	)

Builds a motor driven by two drive pins and gated by an explicit enable pin.

Author: Eddie O'Hagan

Date: 8/13/2026

Motor motor(PIN_GPIO_25, PIN_GPIO_23, PIN_GPIO_24, MotorAlignment::Right);

RumPi::PIN_GPIO_25

constexpr unsigned int PIN_GPIO_25

BCM GPIO pin 25.

Definition: Common.h:51

RumPi::Right

@ Right

Definition: Motor.h:15

Parameters

[in]	enablePinNumber	The H-bridge enable pin.
[in]	driveOnePinNumber	The first H-bridge drive pin.
[in]	driveTwoPinNumber	The second H-bridge drive pin.
[in]	alignment	This motor's alignment on the vehicle.

◆ ~Motor()

RumPi::Motor::~Motor ( )

overridevirtual

Destroys the motor, turning it off first.

Author: Eddie O'Hagan

Date: 8/13/2026

Motor* motor = new Motor(PIN_GPIO_23, PIN_GPIO_24);

delete motor;

Member Function Documentation

◆ GetAlignment()

MotorAlignment RumPi::Motor::GetAlignment ( ) const

Gets this motor's alignment on the vehicle.

Author: Eddie O'Hagan

Date: 8/13/2026

MotorAlignment alignment = motor.GetAlignment();

RumPi::MotorAlignment

MotorAlignment

Helps determine direction to rotate a motor if/when turning a Vehicle.

Definition: Motor.h:13

Returns: The motor's alignment.

◆ GetDriveOnePinNumber()

unsigned int RumPi::Motor::GetDriveOnePinNumber ( ) const

Gets the first H-bridge drive pin.

Author: Eddie O'Hagan

Date: 8/13/2026

unsigned int pin = motor.GetDriveOnePinNumber();

Returns: The first drive pin number.

◆ GetDriveTwoPinNumber()

unsigned int RumPi::Motor::GetDriveTwoPinNumber ( ) const

Gets the second H-bridge drive pin.

Author: Eddie O'Hagan

Date: 8/13/2026

unsigned int pin = motor.GetDriveTwoPinNumber();

Returns: The second drive pin number.

◆ GetEnablePinNumber()

unsigned int RumPi::Motor::GetEnablePinNumber ( ) const

Gets the H-bridge enable pin (UINT_MAX if the enable pin is always powered).

Author: Eddie O'Hagan

Date: 8/13/2026

unsigned int pin = motor.GetEnablePinNumber();

Returns: The enable pin number.

◆ MoveBackward()

void RumPi::Motor::MoveBackward ( )

virtual

Drives the motor backward, enabling the H-bridge first.

Author: Eddie O'Hagan

Date: 8/13/2026

motor.MoveBackward();

◆ MoveForward()

void RumPi::Motor::MoveForward ( )

virtual

Drives the motor forward, enabling the H-bridge first.

Author: Eddie O'Hagan

Date: 8/13/2026

motor.MoveForward();

◆ ProcessRawValues()

void RumPi::Motor::ProcessRawValues ( )

overridevirtual

No-op: a motor is an output device with no raw values to process.

Author: Eddie O'Hagan

Date: 8/13/2026

motor.ProcessRawValues();

Implements RumPi::BaseComponent.

◆ ToString()

std::string RumPi::Motor::ToString ( ) const

overridevirtual

Serializes the motor's enable/drive pins and alignment to a string.

Author: Eddie O'Hagan

Date: 8/13/2026

std::string data = motor.ToString();

Returns: A string describing the motor.

Implements RumPi::BaseComponent.

◆ TurnOff()

void RumPi::Motor::TurnOff ( )

overridevirtual

Turns the motor off by disabling the enable pin and driving both drive pins low.

Author: Eddie O'Hagan

Date: 8/13/2026

motor.TurnOff();

Implements RumPi::BaseComponent.

◆ TurnOn()

void RumPi::Motor::TurnOn ( )

overridevirtual

Turns the motor on by enabling the H-bridge chip (no motion until a Move call).

Author: Eddie O'Hagan

Date: 8/13/2026

motor.TurnOn();

Implements RumPi::BaseComponent.

Member Data Documentation

◆ myAlignment

MotorAlignment RumPi::Motor::myAlignment

private

This motor's alignment on the vehicle (used when steering).

◆ myDriveOnePinNumber

unsigned int RumPi::Motor::myDriveOnePinNumber

private

The first H-bridge drive pin.

◆ myDriveTwoPinNumber

unsigned int RumPi::Motor::myDriveTwoPinNumber

private

The second H-bridge drive pin.

◆ myEnablePinNumber

unsigned int RumPi::Motor::myEnablePinNumber

private

The H-bridge enable pin (UINT_MAX if the enable pin is always powered).

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

Source/Headers/RumPi/Components/Motor.h
Source/Implementations/RumPi/Components/Motor.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Motor() [1/2]

◆ Motor() [2/2]

◆ ~Motor()

Member Function Documentation

◆ GetAlignment()

◆ GetDriveOnePinNumber()

◆ GetDriveTwoPinNumber()

◆ GetEnablePinNumber()

◆ MoveBackward()

◆ MoveForward()

◆ ProcessRawValues()

◆ ToString()

◆ TurnOff()

◆ TurnOn()

Member Data Documentation

◆ myAlignment

◆ myDriveOnePinNumber

◆ myDriveTwoPinNumber

◆ myEnablePinNumber