Class DCMotor

The role of this class is to emulate an axial DC Motor rotating on the Y axis (Up vector).

Inheritance
Object
NodeRuntime
DCMotor
Inherited Members
Namespace: Mechatronics.SensorSDK
Syntax
[NodeCategory("Actuator", "DC Motor", NodeTick.Synchronous, (LifeCycle)0, 0F, NodeMode.Standard, false)]
public class DCMotor : NodeRuntime

Fields

angularDistance

Declaration
[Tooltip("Rotation since the last update in degree.")]
[Field("AngularDistance", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<float> angularDistance
Field Value
Type Description
PortType<Single>

boundTransform

Declaration
[Binding("Transform")]
[SerializeField]
protected Binding<Transform> boundTransform
Field Value
Type Description
Binding<Transform>

cw

Declaration
[Tooltip("Whether the DC motor rotates in the clockwise direction.")]
[Field("TurnCW", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<bool> cw
Field Value
Type Description
PortType<Boolean>

enable

Declaration
[Tooltip("Activate/Deactivate the dc motor behavior.")]
[Field("Enable", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<bool> enable
Field Value
Type Description
PortType<Boolean>

maxRPM

Declaration
[Tooltip("Max speed in rotation per minute.")]
[Field("RPM", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<float> maxRPM
Field Value
Type Description
PortType<Single>

speedVariation

Declaration
[Tooltip("Apply a Gaussian noise on the maxRPM.  This value correspond to the sigma of the Gaussian curve. (In RPM)  (0 means no noise)")]
[Field("Speed variation", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<float> speedVariation
Field Value
Type Description
PortType<Single>

timeConstant

Declaration
[Tooltip("Time when the motor hits 63% of its max speed in seconds.  It describes how the motor accelerate.")]
[Field("Time constant", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<float> timeConstant
Field Value
Type Description
PortType<Single>

turnTime

Declaration
[Tooltip("Time elapsed since the last turn.")]
[Field("turnTime", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<float> turnTime
Field Value
Type Description
PortType<Single>

velocity

Declaration
[Tooltip("Angular speed since the last update in degree/second.")]
[Field("Velocity", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<float> velocity
Field Value
Type Description
PortType<Single>

Methods

Enable(Scheduler.ClockState)

Reset internal timers.

Declaration
public override void Enable(Scheduler.ClockState clockState)
Parameters
Type Name Description
Scheduler.ClockState clockState

The parameters of the waveform associated to this node
Overrides

OnTick(Double, Double, Scheduler.ClockState, Scheduler.Signal)

Apply the DC Motor model.

Declaration
public override bool OnTick(double now, double eventTime, Scheduler.ClockState clockState, Scheduler.Signal signal)
Parameters
Type Name Description
Double now

The current time in seconds of the scheduler clocksource
Double eventTime

The current time in seconds of the scheduler waveform. This is independant from the clocksource time and aligned to every rising edge time in the waveform.
Scheduler.ClockState clockState

The current parameters of the waveform event associated to this node
Scheduler.Signal signal

Signals that the scheduler pass to the OnTick event receiver. These are signals that describe the action that should be done in the Node. For example, integrate this tick as multiple events.
Returns
Type Description
Boolean

Returns true if time integration was performed
Overrides