Files
file	holitdata-motormux.h
	Holit Data Systems Motor MUX driver.
Defines
#define	HDMMUX_I2C_ADDR 0x02
#define	HDMMUX_CMD_MOTOR 0x01
#define	HDMMUX_CMD_ADDRCHNG 0x02
#define	HDMMUX_CMD_RST_TACH_A 0x03
#define	HDMMUX_CMD_RST_TACH_B 0x04
#define	HDMMUX_CMD_RST_TACH_C 0x05
#define	HDMMUX_MOTOR_A 0x01
#define	HDMMUX_MOTOR_B 0x02
#define	HDMMUX_MOTOR_C 0x03
#define	HDMMUX_MOTOR_OTHER 0x04
#define	HDMMUX_MOTOR_RIGHT 0x02
#define	HDMMUX_MOTOR_LEFT 0x00
#define	HDMMUX_ROT_FORWARD (0x01 << 6)
#define	HDMMUX_ROT_REVERSE (0x02 << 6)
#define	HDMMUX_ROT_STOP (0x03 << 6)
#define	HDMMUX_ROT_CONSTSPEED (0x01 << 4)
#define	HDMMUX_ROT_RAMPUP (0x02 << 4)
#define	HDMMUX_ROT_RAMPDOWN (0x03 << 4)
#define	HDMMUX_ROT_UNLIMITED (0x00 << 2)
#define	HDMMUX_ROT_DEGREES (0x01 << 2)
#define	HDMMUX_ROT_ROTATIONS (0x02 << 2)
#define	HDMMUX_ROT_SECONDS (0x03 << 2)
#define	HDMMUX_ROT_POWERCONTROL (0x01 << 1)
#define	HDMMUX_ROT_BRAKE 0x01
#define	HDMMUX_ROT_FLOAT 0x00
Functions
void	HDMMUXinit ()
bool	HDMMUXreadStatus (tSensors link, ubyte &motorStatus, long &tachoA, long &tachoB, long &tachoC)
bool	HDMMUXsendCommand (tSensors link, ubyte mode, ubyte channel, ubyte rotparams, long duration, byte power, byte steering)
bool	HDMMotor (tMUXmotor muxmotor, byte power)
bool	HDMotorStop (tMUXmotor muxmotor)
bool	HDMotorStop (tMUXmotor muxmotor, bool brake)
void	HDMMotorSetRotationTarget (tMUXmotor muxmotor, float rottarget)
void	HDMMotorSetTimeTarget (tMUXmotor muxmotor, float timetarget)
void	HDMMotorSetEncoderTarget (tMUXmotor muxmotor, long enctarget)
long	HDMMotorEncoder (tMUXmotor muxmotor)
bool	HDMMotorEncoderReset (tMUXmotor muxmotor)
bool	HDMMotorEncoderResetAll (tSensors link)
bool	HDMMotorBusy (tMUXmotor muxmotor)
void	HDMMotorSetBrake (tMUXmotor muxmotor)
void	HDMMotorSetFloat (tMUXmotor muxmotor)
void	HDMMotorSetSpeedCtrl (tMUXmotor muxmotor, bool constspeed)
void	HDMMotorSetRamping (tMUXmotor muxmotor, ubyte ramping)
Variables
tByteArray	HDMMUX_I2CRequest
tByteArray	HDMMUX_I2CReply

Detailed Description

Holit Data Systems Motor MUX

Define Documentation

#define HDMMUX_CMD_ADDRCHNG 0x02

Definition at line 58 of file holitdata-motormux.h.

#define HDMMUX_CMD_MOTOR 0x01

Definition at line 57 of file holitdata-motormux.h.

#define HDMMUX_CMD_RST_TACH_A 0x03

Definition at line 59 of file holitdata-motormux.h.

#define HDMMUX_CMD_RST_TACH_B 0x04

Definition at line 60 of file holitdata-motormux.h.

#define HDMMUX_CMD_RST_TACH_C 0x05

Definition at line 61 of file holitdata-motormux.h.

#define HDMMUX_I2C_ADDR 0x02

HDMMUX I2C device address

Definition at line 54 of file holitdata-motormux.h.

#define HDMMUX_MOTOR_A 0x01

Definition at line 64 of file holitdata-motormux.h.

#define HDMMUX_MOTOR_B 0x02

Definition at line 65 of file holitdata-motormux.h.

#define HDMMUX_MOTOR_C 0x03

Definition at line 66 of file holitdata-motormux.h.

#define HDMMUX_MOTOR_LEFT 0x00

Definition at line 70 of file holitdata-motormux.h.

#define HDMMUX_MOTOR_OTHER 0x04

Definition at line 68 of file holitdata-motormux.h.

#define HDMMUX_MOTOR_RIGHT 0x02

Definition at line 69 of file holitdata-motormux.h.

#define HDMMUX_ROT_BRAKE 0x01

Definition at line 88 of file holitdata-motormux.h.

#define HDMMUX_ROT_CONSTSPEED (0x01 << 4)

Definition at line 77 of file holitdata-motormux.h.

#define HDMMUX_ROT_DEGREES (0x01 << 2)

Definition at line 82 of file holitdata-motormux.h.

#define HDMMUX_ROT_FLOAT 0x00

Definition at line 89 of file holitdata-motormux.h.

#define HDMMUX_ROT_FORWARD (0x01 << 6)

Definition at line 73 of file holitdata-motormux.h.

#define HDMMUX_ROT_POWERCONTROL (0x01 << 1)

Definition at line 86 of file holitdata-motormux.h.

#define HDMMUX_ROT_RAMPDOWN (0x03 << 4)

Definition at line 79 of file holitdata-motormux.h.

#define HDMMUX_ROT_RAMPUP (0x02 << 4)

Definition at line 78 of file holitdata-motormux.h.

#define HDMMUX_ROT_REVERSE (0x02 << 6)

Definition at line 74 of file holitdata-motormux.h.

#define HDMMUX_ROT_ROTATIONS (0x02 << 2)

Definition at line 83 of file holitdata-motormux.h.

#define HDMMUX_ROT_SECONDS (0x03 << 2)

Definition at line 84 of file holitdata-motormux.h.

#define HDMMUX_ROT_STOP (0x03 << 6)

Definition at line 75 of file holitdata-motormux.h.

#define HDMMUX_ROT_UNLIMITED (0x00 << 2)

Definition at line 81 of file holitdata-motormux.h.

Function Documentation

bool HDMMotor	(	tMUXmotor	muxmotor,
		byte	power
	)

Run motor with specified speed.

Parameters:

muxmotor	the motor-MUX motor
power	power the amount of power to apply to the motor, value between -100 and +100

Returns:: true if no error occured, false if it did

Examples:: holitdata-motormux-test1.c, and holitdata-motormux-test2.c.

Definition at line 203 of file holitdata-motormux.h.

bool HDMMotorBusy ( tMUXmotor muxmotor )

Check if the specified motor is running or not.

Parameters:

muxmotor the motor-MUX motor

Returns:: true if the motor is still running, false if it's idle

Examples:: holitdata-motormux-test1.c, and holitdata-motormux-test2.c.

Definition at line 388 of file holitdata-motormux.h.

long HDMMotorEncoder ( tMUXmotor muxmotor )

Fetch the current encoder value for specified motor channel

Parameters:

muxmotor the motor-MUX motor

Returns:: the current value of the encoder

Definition at line 319 of file holitdata-motormux.h.

bool HDMMotorEncoderReset ( tMUXmotor muxmotor )

Reset target encoder for specified motor channel, use only at the start of your program. If you are using the standard NXT wheels you will not run into problems with a wrap-around for the first 500kms or so.

Parameters:

muxmotor the motor-MUX motor

Returns:: true if no error occured, false if it did

Definition at line 346 of file holitdata-motormux.h.

bool HDMMotorEncoderResetAll ( tSensors link )

Reset all encoders on the specified motor-MUX. Use only at the start of your program. If you are using the standard NXT wheels you will not run into problems with a wrap-around for the first 500kms or so.

Parameters:

link	the MMUX port number

Returns:: true if no error occured, false if it did

Examples:: holitdata-motormux-test1.c, and holitdata-motormux-test2.c.

Definition at line 368 of file holitdata-motormux.h.

void HDMMotorSetBrake ( tMUXmotor muxmotor )

Set the stopping method for the specified motor to brake.

Parameters:

muxmotor the motor-MUX motor

Examples:: holitdata-motormux-test1.c, and holitdata-motormux-test2.c.

Definition at line 409 of file holitdata-motormux.h.

void HDMMotorSetEncoderTarget	(	tMUXmotor	muxmotor,
		long	enctarget
	)

Set encoder target for specified mux motor.

Parameters:

muxmotor	the motor-MUX motor
enctarget	the encoder target value in degrees.

Returns:: true if no error occured, false if it did

Examples:: holitdata-motormux-test1.c.

Definition at line 307 of file holitdata-motormux.h.

void HDMMotorSetFloat ( tMUXmotor muxmotor )

Set the stopping method for the specified motor to float.

Parameters:

muxmotor the motor-MUX motor

Examples:: holitdata-motormux-test1.c.

Definition at line 419 of file holitdata-motormux.h.

void HDMMotorSetRamping	(	tMUXmotor	muxmotor,
		ubyte	ramping
	)

Set the motor ramping type the specified motor. ramping can be one of

HDMMUX_ROT_CONSTSPEED
HDMMUX_ROT_RAMPUP
HDMMUX_ROT_RAMPDOWN

Parameters:

muxmotor	the motor-MUX motor
ramping	the type of ramping to be used

Definition at line 445 of file holitdata-motormux.h.

void HDMMotorSetRotationTarget	(	tMUXmotor	muxmotor,
		float	rottarget
	)

Set rotation target for specified mux motor. Rotations can be specified in increments of 0.01. To rotate the motor 10.54 degrees, specify a value of 10.54.

Parameters:

muxmotor	the motor-MUX motor
rottarget	the rotation target value

Returns:: true if no error occured, false if it did

Examples:: holitdata-motormux-test1.c.

Definition at line 280 of file holitdata-motormux.h.

void HDMMotorSetSpeedCtrl	(	tMUXmotor	muxmotor,
		bool	constspeed
	)

Set the motor speed control for the specified motor.

Parameters:

muxmotor	the motor-MUX motor
constspeed	whether or not to use speed control

Definition at line 430 of file holitdata-motormux.h.

void HDMMotorSetTimeTarget	(	tMUXmotor	muxmotor,
		float	timetarget
	)

Set time target for specified mux motor. Seconds can be specified in increments of 0.01. To rotate the motor for 10.21 seconds, specify a value of 10.21.

Parameters:

muxmotor	the motor-MUX motor
timetarget	the time target value in seconds.

Returns:: true if no error occured, false if it did

Examples:: holitdata-motormux-test1.c, and holitdata-motormux-test2.c.

Definition at line 294 of file holitdata-motormux.h.

void HDMMUXinit ( )

Examples:: holitdata-motormux-test1.c, and holitdata-motormux-test2.c.

Definition at line 116 of file holitdata-motormux.h.

bool HDMMUXreadStatus	(	tSensors	link,
		ubyte &	motorStatus,
		long &	tachoA,
		long &	tachoB,
		long &	tachoC
	)

Read the status of the motors and tacho counts of the MMUX

motorStatus is made of 3 bits, 1: motor is running, 0: motor is idle
bit 0: motor A
bit 1: motor B
bit 2: motor C

Parameters:

link	the MMUX port number
motorStatus	status of the motors
tachoA	Tacho count for motor A
tachoB	Tacho count for motor B
tachoC	Tacho count for motor C

Returns:: true if no error occured, false if it did

Examples:: holitdata-motormux-test1.c, and holitdata-motormux-test2.c.

Definition at line 144 of file holitdata-motormux.h.

bool HDMMUXsendCommand	(	tSensors	link,
		ubyte	mode,
		ubyte	channel,
		ubyte	rotparams,
		long	duration,
		byte	power,
		byte	steering
	)

Send a command to the MMUX.

Note: this is an internal function and shouldn't be used directly

Parameters:

link	the MMUX port number
mode	the mode the MMX should operate in, controlling motors, resetting tachos or settings new address
channel	the motors the command applies to
rotparams	the additional parameters that make up the command
duration	the number of units (can be seconds, rotations or degrees) the command should be run for
power	the amount of power to be applied to the motor(s)
steering	used for syncronised movement to control the amount of steering

Returns:: true if no error occured, false if it did

Definition at line 177 of file holitdata-motormux.h.

bool HDMotorStop	(	tMUXmotor	muxmotor,
		bool	brake
	)

Stop the motor. This function overrides the preconfigured braking method.

Parameters:

muxmotor	the motor-MUX motor
brake	when set to true: use brake, false: use float

Returns:: true if no error occured, false if it did

Definition at line 255 of file holitdata-motormux.h.

bool HDMotorStop ( tMUXmotor muxmotor )

Stop the motor. Uses the brake method specified with HDMMotorSetBrake or HDMMotorSetFloat. The default is to use braking.

Parameters:

muxmotor the motor-MUX motor

Returns:: true if no error occured, false if it did

Definition at line 231 of file holitdata-motormux.h.

Variable Documentation

tByteArray HDMMUX_I2CReply

Array to hold I2C reply data

Definition at line 92 of file holitdata-motormux.h.

tByteArray HDMMUX_I2CRequest

Array to hold I2C command data

Definition at line 91 of file holitdata-motormux.h.

HDS Motor MUX [Other]

Files

Defines

Functions

Variables

Detailed Description

Define Documentation

Function Documentation

Variable Documentation

HDS Motor MUX
[Other]