Firgelli Linear Actuator [Other]

Files
file	firgelli-linearact.h
	Firgelli Linear Actuator driver.
Defines
#define	STALL_TIME_SLOW   1200
#define	STALL_TIME_FAST   800
Functions
task	_FLACcontrolTaskA ()
task	_FLACcontrolTaskB ()
task	_FLACcontrolTaskC ()
void	_FLACcontrolTasks (tMotor _motor, int _highPower, long _encTarget)
bool	isDone (tMotor _motor)
void	FLACstopLA (tMotor _motor)
void	FLACextendLA (tMotor _motor, int _highPower)
void	FLACextendLA (tMotor _motor, int _highPower, int distance)
void	FLACtretractLA (tMotor _motor, int _highPower)
void	FLACtretractLA (tMotor _motor, int _highPower, int distance)
void	FLACmoveLA (tMotor _motor, int highpower, int pos)
void	FLACsetInverse (tMotor _motor)
bool	isStalled (tMotor _motor)
void	FLACretractLA (tMotor _motor, int _highPower)
void	FLACsetInverse (tMotor _motor, bool invert)
Variables
long	_encoderTarget [3] = {0, 0, 0}
long	_motorHighPower [3] = {0, 0, 0}
bool	_stalled [3] = {false, false, false}
bool	_inverted [3] = {false, false, false}

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Detailed Description

Firgelli Linear Actuator driver

---

Define Documentation

#define STALL_TIME_FAST   800

Counter to check if motor is stalled when motor speeds are >= 50

Definition at line 40 of file firgelli-linearact.h.

#define STALL_TIME_SLOW   1200

Counter to check if motor is stalled when motor speeds are < 50

Definition at line 39 of file firgelli-linearact.h.

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Function Documentation

task _FLACcontrolTaskA

(

)

Definition at line 67 of file firgelli-linearact.h.

task _FLACcontrolTaskB

(

)

Definition at line 123 of file firgelli-linearact.h.

task _FLACcontrolTaskC

(

)

Definition at line 179 of file firgelli-linearact.h.

void _FLACcontrolTasks	(	tMotor	_motor,
		int	_highPower,
		long	_encTarget
	)

Stop and start the motor control tasks and set their parameters.

Note: this is an internal function and should not be called directly.

Parameters:

_motor	the motor to be controlled
_highPower	the highest speed the motor should turn at
_encTarget	the target the motor should move to

Definition at line 242 of file firgelli-linearact.h.

void FLACextendLA	(	tMotor	_motor,
		int	_highPower,
		int	distance
	)

Extend the Linear Actuator.

Parameters:

_motor	the motor to be controlled
_highPower	the highest speed the motor should turn at
distance	the number of encoder ticks (0.5mm) the actuator should move

Definition at line 346 of file firgelli-linearact.h.

void FLACextendLA	(	tMotor	_motor,
		int	_highPower
	)

Extend the Linear Actuator fully until stalled.

Parameters:

_motor	the motor to be controlled
_highPower	the highest speed the motor should turn at

Examples:

firgelli-linearact-test1.c.

Definition at line 333 of file firgelli-linearact.h.

void FLACmoveLA	(	tMotor	_motor,
		int	highpower,
		int	pos
	)

Move the Linear Actuator to an absolute position

Parameters:

_motor	the motor to be controlled
highpower	the highest speed the motor should turn at
pos	the exact encoder count to move to

Definition at line 385 of file firgelli-linearact.h.

void FLACretractLA	(	tMotor	_motor,
		int	_highPower
	)

Retract the Linear Actuator fully until stalled. It is wise to reset the encoder count for that motor afterwards.

Parameters:

_motor	the motor to be controlled
_highPower	the highest speed the motor should turn at

Examples:

firgelli-linearact-test1.c.

Definition at line 359 of file firgelli-linearact.h.

void FLACsetInverse	(	tMotor	_motor,
		bool	invert
	)

Invert the LA's movement

Parameters:

_motor	the motor to be inverted
invert	whether or not to invert the motor

Definition at line 395 of file firgelli-linearact.h.

void FLACsetInverse

(

tMotor

_motor )

void FLACstopLA

(

tMotor

_motor )

Stop the current operation

Parameters:

_motor

the motor to be stopped

Definition at line 293 of file firgelli-linearact.h.

void FLACtretractLA	(	tMotor	_motor,
		int	_highPower
	)

Examples:

firgelli-linearact-test1.c.

void FLACtretractLA	(	tMotor	_motor,
		int	_highPower,
		int	distance
	)

Retract the Linear Actuator.

Parameters:

_motor	the motor to be controlled
_highPower	the highest speed the motor should turn at
distance	the number of encoder ticks (0.5mm) the actuator should move

Definition at line 372 of file firgelli-linearact.h.

bool isDone

(

tMotor

_motor )

Check if the motor is done with the current operation

Parameters:

_motor

the motor to be checked

Returns:

true if the motor is done, false if it isn't

Examples:

firgelli-linearact-test1.c.

Definition at line 308 of file firgelli-linearact.h.

bool isStalled

(

tMotor

_motor )

Check if the motor stalled on the last operation

Parameters:

_motor

the motor to be checked

Returns:

true if the motor stalled, false if it hadn't.

Examples:

firgelli-linearact-test1.c.

Definition at line 323 of file firgelli-linearact.h.

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Variable Documentation

long _encoderTarget[3] = {0, 0, 0}

Motor encoder targets - INTERNAL

Definition at line 42 of file firgelli-linearact.h.

bool _inverted[3] = {false, false, false}

Are we reversing the motors? - INTERNAL

Definition at line 45 of file firgelli-linearact.h.

long _motorHighPower[3] = {0, 0, 0}

High Power - top speed of the motor - INTERNAL

Definition at line 43 of file firgelli-linearact.h.

bool _stalled[3] = {false, false, false}

Are we stalling? - INTERNAL

Definition at line 44 of file firgelli-linearact.h.