Motors¶

Motor Types by Interface¶

	Speed	Position
signed (-1000..1000)	DirectionalMotor	SteeringActuator
unsigned (0..1000)	ForwardMotor	LinearActuator

DirectionalMotor – Bidirectional speed control. Used for DC motors in cars, boats, robots where forward/reverse and variable speed are needed.
ForwardMotor – Unidirectional speed control. Used for aircraft ESCs, pumps, fans, and any application requiring only forward direction with variable speed.
SteeringActuator – Bidirectional position control. Used for steering servos, pan/tilt mechanisms, and any application requiring centered positioning with left/right movement.
LinearActuator – Unidirectional position control. Used for linear actuators, position servos, and applications requiring absolute position control from minimum to maximum.

Hardware Compatibility Matrix¶

Driver	DirectionalMotor	ForwardMotor	SteeringActuator	LinearActuator
PwmDriver	—	✅	—	✅
ServoDriver	✅	✅	✅	✅
TA6586Driver	✅	—	✅	—
TB6612Driver	✅	—	✅	—

DirectionalMotor¶

Bidirectional motor controller for DC motors with H-bridge drivers.

template <class Driver, signed short kMaxBackward = -1000, 
          signed short kMinBackward = 0, signed short kMinForward = 0, 
          signed short kMaxForward = 1000>
class DirectionalMotor : public Driver

Methods:

SetupRange(maxBack, minBack, minForw, maxForw) – Configure all limits
SetMaxBackward(value) – Max reverse power (-1000..1000)
SetMinBackward(value) – Min reverse power (start threshold)
SetMinForward(value) – Min forward power (start threshold)
SetMaxForward(value) – Max forward power
Go(level) – Set motor power (-1000..1000)

Example:

using Motor = evam::DirectionalMotor<evam::TA6586Driver<9, 10>>;
Motor motor;
motor.SetupRange(-1000, -200, 200, 1000);  // 20% dead zone
motor.Go(750);  // 75% forward

ForwardMotor¶

Unidirectional motor controller for ESCs and forward-only applications.

template <class Driver, int kMinValue = 0, int kMaxValue = 1000>
class ForwardMotor : public Driver

Methods:

SetupRange(minVal, maxVal) – Configure output range
SetMinValue(value) – Minimum output (idle/stop)
SetMaxValue(value) – Maximum output (full power)
Go(level) – Set motor power (0..1000, negative treated as 0)

Example:

using ESC = evam::ForwardMotor<evam::PwmDriver<9>>;
ESC throttle;
throttle.SetupRange(100, 1000);  // ESC calibration
throttle.Go(500);  // 50% throttle

SteeringActuator¶

Centered servo controller for steering and positioning.

template <class Driver, signed short kLeftPos = -1000, 
          signed short kCenterPos = 0, signed short kRightPos = 1000>
class SteeringActuator : public Driver

Methods:

SetupRange(leftPos, centerPos, rightPos) – Configure endpoints
SetLeftPos(value) – Leftmost position
SetCenterPos(value) – Center position
SetRightPos(value) – Rightmost position
Go(level) – Set position (-1000..1000)

Example:

using Steering = evam::SteeringActuator<evam::ServoDriver<9>>;
Steering steering;
steering.SetupRange(-800, 0, 800);  // Calibrate endpoints
steering.Go(500);  // Turn right

LinearActuator¶

Position controller for linear actuators and position servos.

template <class Driver, int kMinValue = 0, int kMaxValue = 1000>
class LinearActuator : public Driver

Methods:

SetupRange(minVal, maxVal) – Configure position range
SetMinValue(value) – Position at input 0
SetMaxValue(value) – Position at input 1000
Go(position) – Set position (0..1000)

Example:

using Actuator = evam::LinearActuator<evam::PwmDriver<10>>;
Actuator actuator;
actuator.SetupRange(0, 1000);
actuator.Go(750);  // 75% extended