Interface IPositionalMotor

Represents an interface for controlling a positional motor.

Assembly: Meadow.Contracts.dll

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Declaration

public interface IPositionalMotor : IVariableSpeedMotor, IMotor

Properties

Position

Gets the current position of the motor.

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Declaration

Angle Position { get; }

MaxVelocity

Gets the maximum run velocity for the motor

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Declaration

AngularVelocity MaxVelocity { get; }

Methods

GoTo(Angle, AngularVelocity, CancellationToken)

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

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Declaration

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

Returns

System.Threading.Tasks.Task

Parameters

Type	Name	Description
Meadow.Units.Angle	position	The target position to move to.
Meadow.Units.AngularVelocity	velocity	The angular velocity of the motor during the movement.
System.Threading.CancellationToken	cancellationToken	A 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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Declaration

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

Returns

System.Threading.Tasks.Task

Parameters

Type	Name	Description
Meadow.Units.Angle	position	The target position to move to.
Meadow.Peripherals.RotationDirection	direction	The direction in which to move the motor.
Meadow.Units.AngularVelocity	velocity	The angular velocity of the motor during the movement.
System.Threading.CancellationToken	cancellationToken	A token to cancel the operation.

Run(RotationDirection, AngularVelocity, CancellationToken)

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

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Declaration

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

Returns

System.Threading.Tasks.Task

Parameters

Type	Name	Description
Meadow.Peripherals.RotationDirection	direction	The direction in which to run the motor.
Meadow.Units.AngularVelocity	velocity	The angular velocity of the motor during the run.
System.Threading.CancellationToken	cancellationToken	A 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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Declaration

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

Returns

System.Threading.Tasks.Task

Parameters

Type	Name	Description
System.TimeSpan	runTime	The duration for which to run the motor.
Meadow.Peripherals.RotationDirection	direction	The direction in which to run the motor.
Meadow.Units.AngularVelocity	velocity	The angular velocity of the motor during the run.
System.Threading.CancellationToken	cancellationToken	A token to cancel the operation.

ResetPosition(CancellationToken)

Resets the position of the motor.

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Declaration

Task ResetPosition(CancellationToken cancellationToken = default)

Returns

System.Threading.Tasks.Task

Parameters

Type	Name	Description
System.Threading.CancellationToken	cancellationToken	A 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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Declaration

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

Returns

System.Threading.Tasks.Task

Parameters

Type	Name	Description
Meadow.Units.Angle	amountToRotate	The angle by which to rotate the motor.
Meadow.Peripherals.RotationDirection	direction	The direction in which to rotate the motor.
Meadow.Units.AngularVelocity	velocity	The angular velocity of the motor during the rotation.
System.Threading.CancellationToken	cancellationToken	A token to cancel the operation.