Class Motor

ClassList > Motor

Abstract base class for all motor drivers.

• #include <motor.hpp>

Inherited by the following classes: DRVMotor, SNMotor

Public Functions

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 coast

Let the motor coast (no braking force).

virtual void Motor::coast () = 0

---

function forward

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

virtual void Motor::forward (
    float duty
) = 0

---

function hard_brake

Apply electronic braking immediately.

virtual void Motor::hard_brake () = 0

---

function reverse

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

virtual void Motor::reverse (
    float duty
) = 0

---

function set_speed

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

virtual void Motor::set_speed (
    float speed
) = 0

---

function ~Motor

virtual Motor::~Motor () = default

---

---

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