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Interface IPositionalMotor

Represents an interface for controlling a positional motor.

Assembly: Meadow.Contracts.dll
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public interface IPositionalMotor : IVariableSpeedMotor, IMotor

Properties

Position

Gets the current position of the motor.

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Angle Position { get; }

MaxVelocity

Gets the maximum run velocity for the motor

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AngularVelocity MaxVelocity { get; }

Methods

GoTo(Angle, AngularVelocity, CancellationToken)

Moves the motor to the specified position with the given velocity.

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Task GoTo(Angle position, AngularVelocity velocity, CancellationToken cancellationToken = default)
Returns

System.Threading.Tasks.Task

Parameters
TypeNameDescription
Meadow.Units.AnglepositionThe target position to move to.
Meadow.Units.AngularVelocityvelocityThe angular velocity of the motor during the movement.
System.Threading.CancellationTokencancellationTokenA token to cancel the operation.

GoTo(Angle, RotationDirection, AngularVelocity, CancellationToken)

Moves the motor to the specified position and direction with the given velocity.

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Task GoTo(Angle position, RotationDirection direction, AngularVelocity velocity, CancellationToken cancellationToken = default)
Returns

System.Threading.Tasks.Task

Parameters
TypeNameDescription
Meadow.Units.AnglepositionThe target position to move to.
Meadow.Peripherals.RotationDirectiondirectionThe direction in which to move the motor.
Meadow.Units.AngularVelocityvelocityThe angular velocity of the motor during the movement.
System.Threading.CancellationTokencancellationTokenA token to cancel the operation.

Run(RotationDirection, AngularVelocity, CancellationToken)

Runs the motor in the specified direction with the given velocity.

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Task Run(RotationDirection direction, AngularVelocity velocity, CancellationToken cancellationToken = default)
Returns

System.Threading.Tasks.Task

Parameters
TypeNameDescription
Meadow.Peripherals.RotationDirectiondirectionThe direction in which to run the motor.
Meadow.Units.AngularVelocityvelocityThe angular velocity of the motor during the run.
System.Threading.CancellationTokencancellationTokenA token to cancel the operation.

RunFor(TimeSpan, RotationDirection, AngularVelocity, CancellationToken)

Runs the motor for a specified duration in the specified direction with the given velocity.

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Task RunFor(TimeSpan runTime, RotationDirection direction, AngularVelocity velocity, CancellationToken cancellationToken = default)
Returns

System.Threading.Tasks.Task

Parameters
TypeNameDescription
System.TimeSpanrunTimeThe duration for which to run the motor.
Meadow.Peripherals.RotationDirectiondirectionThe direction in which to run the motor.
Meadow.Units.AngularVelocityvelocityThe angular velocity of the motor during the run.
System.Threading.CancellationTokencancellationTokenA token to cancel the operation.

ResetPosition(CancellationToken)

Resets the position of the motor.

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Task ResetPosition(CancellationToken cancellationToken = default)
Returns

System.Threading.Tasks.Task

Parameters
TypeNameDescription
System.Threading.CancellationTokencancellationTokenA token to cancel the operation.

Rotate(Angle, RotationDirection, AngularVelocity, CancellationToken)

Rotates the motor by the specified angle and direction with the given velocity.

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Task Rotate(Angle amountToRotate, RotationDirection direction, AngularVelocity velocity, CancellationToken cancellationToken = default)
Returns

System.Threading.Tasks.Task

Parameters
TypeNameDescription
Meadow.Units.AngleamountToRotateThe angle by which to rotate the motor.
Meadow.Peripherals.RotationDirectiondirectionThe direction in which to rotate the motor.
Meadow.Units.AngularVelocityvelocityThe angular velocity of the motor during the rotation.
System.Threading.CancellationTokencancellationTokenA token to cancel the operation.