mindsensors-motormux.h File Reference

Mindsensors Motor MUX driver. More...

#include "common.h"
#include "common-MMUX.h"

Go to the source code of this file.

Defines
#define	MSMMUX_I2C_ADDR   0x06
#define	MSMMUX_REG_CMD   0x41
#define	MSMMUX_MOT_OFFSET   0x42
#define	MSMMUX_TARG_ENC   0x00
#define	MSMMUX_POWER   0x04
#define	MSMMUX_TARG_TIME   0x05
#define	MSMMUX_CMD_B   0x06
#define	MSMMUX_CMD_A   0x07
#define	MSMMUX_ENTRY_SIZE   0x08
#define	MSMMUX_TACHO_MOT1   0x62
#define	MSMMUX_TACHO_MOT2   0x66
#define	MSMMUX_STATUS_MOT1   0x72
#define	MSMMUX_STATUS_MOT2   0x73
#define	MSMMUX_KP_TACHO   0x7A
#define	MSMMUX_KI_TACHO   0x7C
#define	MSMMUX_KD_TACHO   0x7E
#define	MSMMUX_KP_SPEED   0x80
#define	MSMMUX_KI_SPEED   0x82
#define	MSMMUX_KD_SPEED   0x84
#define	MSMMUX_PASSCOUNT   0x86
#define	MSMMUX_TOLERANCE   0x87
#define	MSMMUX_CMD_RESET_ALL   0x52
#define	MSMMUX_CMD_START_BOTH   0x53
#define	MSMMUX_CMD_FLOAT_MOT1   0x61
#define	MSMMUX_CMD_FLOAT_MOT2   0x62
#define	MSMMUX_CMD_FLOAT_BOTH   0x63
#define	MSMMUX_CMD_BRAKE_MOT1   0x41
#define	MSMMUX_CMD_BRAKE_MOT2   0x42
#define	MSMMUX_CMD_BRAKE_BOTH   0x43
#define	MSMMUX_CMD_RESET_MOT1   0x72
#define	MSMMUX_CMD_RESET_MOT2   0x73
#define	MSMMUX_STAT_SPEED_CTRL   (0x01 << 0)
#define	MSMMUX_STAT_RAMPING   (0x01 << 1)
#define	MSMMUX_STAT_POWERED   (0x01 << 2)
#define	MSMMUX_STAT_POS_CTRL   (0x01 << 3)
#define	MSMMUX_STAT_BRAKED   (0x01 << 4)
#define	MSMMUX_STAT_OVERLOADED   (0x01 << 5)
#define	MSMMUX_STAT_TIMED   (0x01 << 6)
#define	MSMMUX_STAT_STALLED   (0x01 << 7)
#define	MSMMUX_CMD_SPEED   0x01
#define	MSMMUX_CMD_RAMP   0x02
#define	MSMMUX_CMD_RELATIVE   0x04
#define	MSMMUX_CMD_TACHO   0x08
#define	MSMMUX_CMD_BRK   0x10
#define	MSMMUX_CMD_HOLDPOS   0x20
#define	MSMMUX_CMD_TIME   0x40
#define	MSMMUX_CMD_GO   0x80
#define	MSMMUX_RAMP_NONE   0x00
#define	MSMMUX_RAMP_UP_DOWN   0x03
#define	MSMMUX_ROT_UNLIMITED   0x00
#define	MSMMUX_ROT_DEGREES   0x01
#define	MSMMUX_ROT_SECONDS   0x03
Functions
void	MSMMUXinit ()
bool	MSMMUXreadStatus (tMUXmotor muxmotor, ubyte &motorStatus)
bool	MSMMUXsendCommand (tSensors link, ubyte channel, long setpoint, byte speed, ubyte seconds, ubyte commandA, ubyte address=MSMMUX_I2C_ADDR)
bool	MSMMUXsendCommand (tSensors link, ubyte command, ubyte address=MSMMUX_I2C_ADDR)
bool	MSMMUXsetPID (tSensors link, unsigned int kpTacho, unsigned int kiTacho, unsigned int kdTacho, unsigned int kpSpeed, unsigned int kiSpeed, unsigned int kdSpeed, ubyte passCount, ubyte tolerance, ubyte address=MSMMUX_I2C_ADDR)
bool	MSMMotor (tMUXmotor muxmotor, byte power, ubyte address=MSMMUX_I2C_ADDR)
bool	MSMotorStop (tMUXmotor muxmotor, ubyte address=MSMMUX_I2C_ADDR)
bool	MSMotorStop (tMUXmotor muxmotor, bool brake, ubyte address=MSMMUX_I2C_ADDR)
void	MSMMotorSetRotationTarget (tMUXmotor muxmotor, long target)
void	MSMMotorSetTimeTarget (tMUXmotor muxmotor, int target)
void	MSMMotorSetEncoderTarget (tMUXmotor muxmotor, long target)
void	MSMMotorSetEncoderTarget (tMUXmotor muxmotor, long target, bool relative)
long	MSMMotorEncoder (tMUXmotor muxmotor, ubyte address=MSMMUX_I2C_ADDR)
bool	MSMMotorEncoderReset (tMUXmotor muxmotor, ubyte address=MSMMUX_I2C_ADDR)
bool	MSMMotorEncoderResetAll (tSensors link, ubyte address=MSMMUX_I2C_ADDR)
bool	MSMMotorBusy (tMUXmotor muxmotor, ubyte address=MSMMUX_I2C_ADDR)
bool	MSMMotorStalled (tMUXmotor muxmotor, ubyte address=MSMMUX_I2C_ADDR)
void	MSMMotorSetBrake (tMUXmotor muxmotor)
void	MSMMotorSetFloat (tMUXmotor muxmotor)
void	MSMMotorSetSpeedCtrl (tMUXmotor muxmotor, bool constspeed)
void	MSMMotorSetRamping (tMUXmotor muxmotor, bool ramping)
bool	MSMMUXreadStatus (tMUXmotor muxmotor, ubyte &motorStatus, ubyte address)
Variables
tByteArray	MSMMUX_I2CRequest
tByteArray	MSMMUX_I2CReply

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Detailed Description

Mindsensors Motor MUX driver.

mindsensors-motormux.h provides an API for the Mindsensors Motor MUX.

Changelog:

• 0.1: Initial release

Credits:

• Big thanks to Mindsensors for providing me with the hardware necessary to write and test this.

License: You may use this code as you wish, provided you give credit where its due.

THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER.

Author:

Xander Soldaat (xander_at_botbench.com)

Date:

05 April 2010

Version:

0.1

Definition in file mindsensors-motormux.h.