Class SNMotor

ClassList > SNMotor

• #include <motor.hpp>

Inherits the following classes: Motor

Public Functions

Type	Name
	SNMotor (int pi, int pwm_pin, 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 SNMotor

SNMotor::SNMotor (
    int pi,
    int pwm_pin,
    int in1,
    int in2,
    int frequency,
    MotorType motor_type
) 

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function coast

Let the motor coast (no braking force).

virtual void SNMotor::coast () override

Implements Motor::coast

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function forward

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

virtual void SNMotor::forward (
    float duty
) override

Implements Motor::forward

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function hard_brake

Apply electronic braking immediately.

virtual void SNMotor::hard_brake () override

Implements Motor::hard_brake

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function reverse

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

virtual void SNMotor::reverse (
    float duty
) override

Implements Motor::reverse

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function set_speed

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

virtual void SNMotor::set_speed (
    float speed
) override

Implements Motor::set_speed

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