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Class DRVMotor

ClassList > DRVMotor

Motor driver for the DRV8833 H-bridge IC.

  • #include <motor.hpp>

Inherits the following classes: Motor

Public Functions

Type Name
DRVMotor (int pi, int in1, int in2, int frequency, MotorType motor_type)
virtual void coast () override
Let the motor coast (no braking force).
virtual void forward (float duty) override
Drive forward at the given PWM duty cycle [0, 1].
virtual void hard_brake () override
Apply electronic braking immediately.
virtual void reverse (float duty) override
Drive in reverse at the given PWM duty cycle [0, 1].
virtual void set_speed (float speed) override
Set motor speed in [-1, 1] (negative = reverse).

Public Functions inherited from Motor

See Motor

Type Name
virtual void coast () = 0
Let the motor coast (no braking force).
virtual void forward (float duty) = 0
Drive forward at the given PWM duty cycle [0, 1].
virtual void hard_brake () = 0
Apply electronic braking immediately.
virtual void reverse (float duty) = 0
Drive in reverse at the given PWM duty cycle [0, 1].
virtual void set_speed (float speed) = 0
Set motor speed in [-1, 1] (negative = reverse).
virtual ~Motor () = default

Public Functions Documentation

function DRVMotor

DRVMotor::DRVMotor (
    int pi,
    int in1,
    int in2,
    int frequency,
    MotorType motor_type
)

Parameters:

  • pi pigpio instance handle
  • in1 GPIO pin for IN1
  • in2 GPIO pin for IN2
  • frequency PWM frequency in Hz
  • motor_type Which side this motor drives

function coast

Let the motor coast (no braking force). 

virtual void DRVMotor::coast () override

Implements Motor::coast

function forward

Drive forward at the given PWM duty cycle [0, 1]. 

virtual void DRVMotor::forward (
    float duty
) override

Implements Motor::forward

function hard_brake

Apply electronic braking immediately. 

virtual void DRVMotor::hard_brake () override

Implements Motor::hard_brake

function reverse

Drive in reverse at the given PWM duty cycle [0, 1]. 

virtual void DRVMotor::reverse (
    float duty
) override

Implements Motor::reverse

function set_speed

Set motor speed in [-1, 1] (negative = reverse). 

virtual void DRVMotor::set_speed (
    float speed
) override

Implements Motor::set_speed

The documentation for this class was generated from the following file controls/sae_2025_ws/src/payload/include/payload/motor.hpp