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Koduino
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Derived class for communicating with PWM-controlled boards. More...
#include <Motor.h>
Derived class for communicating with PWM-controlled boards.
Uses PWM signals to send open loop commands, and receive position.
Public Member Functions | |
| void | init (uint8_t outPin_, uint8_t inPin_, float zero, int8_t dir, float gearRatio) |
| Initialize a motor for PWM communication. More... | |
| void | init (uint8_t outPin_, uint8_t inPin_, float zero, int8_t dir) |
| Initialize a motor with gear ratio 1. More... | |
| void | enable (bool flag) |
| Enable the motor. More... | |
| float | getRawPosition () |
| Raw position read from the motor driver. More... | |
| void | sendOpenLoop (float val) |
| Communicate a raw PWM to the motor controller. More... | |
 Public Member Functions inherited from Motor | |
| void | init (float zero, int8_t direction, float gearRatio) |
| Initialize motor properties. More... | |
| float | getPosition () |
| Get position after direction and zero are taken into account. More... | |
| float | getVelocity () |
| Get motor velocity after direction and zero are taken into account. More... | |
| float | getOpenLoop () |
| Get the PWM duty cycle commanded to the motor. More... | |
| void | setTorqueEstParams (float Kt, float res, float Vsource, float curLim) |
| Details for torque estimate in getTorque(). Not used elsewhere. More... | |
| float | getTorque () |
| Returns an estimate of torque assuming quasistatic. More... | |
| void | setOpenLoop (float val) |
| Set an open loop PWM command for the motor. More... | |
| void | setGain (float Kp, float Kd) |
| Set gain for position control. More... | |
| void | setGain (float Kp) |
| Set P-gain for position control (D-gain is set to 0) More... | |
| void | setPosition (float setpoint) |
| Set a desired position for the motor in radians. More... | |
| float | update () |
| Function that communicates with the motor controller (including getting position, commanding PWM) More... | |
| void | resetOffset () |
| Run this after you are sure there is non-garbage rawPosition data. | |
Static Public Attributes | |
| static bool | useEXTI = false |
| Set if all instances of BlCon34 use PWM_IN_EXTI (true) or PWM_IN (false). See pwmIn(). | |
| Static Public Attributes inherited from Motor | |
| static int | updateRate = 1000 |
| Set expected rate (Hz) at which update() will be called. More... | |
| static float | velSmooth = 0.8 |
| Set smoothing factor for getVelocity() (0 is no smoothing, 1 never updates) | |
Inherits Motor.
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virtual |
Enable the motor.
Must be implemented in derived classes
| flag | true to enable, false to disable |
Implements Motor.
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virtual |
Raw position read from the motor driver.
This is before the direction/zero are applied. The user should call getPosition()
Implements Motor.
| void BlCon34::init | ( | uint8_t | outPin_, |
| uint8_t | inPin_, | ||
| float | zero, | ||
| int8_t | dir, | ||
| float | gearRatio | ||
| ) |
Initialize a motor for PWM communication.
| outPin_ | PWM out pin (must be a PWM pin) |
| inPin_ | PWM in pin (must be a PWM pin if BlCon34::useEXTI is false, otherwise an external interrupt pin) |
| zero | See Motor::init() |
| dir | See Motor::init() |
| gearRatio | See Motor::init() |
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inline |
Initialize a motor with gear ratio 1.
| outPin_ | PWM out pin (must be a PWM pin) |
| inPin_ | PWM in pin (must be a PWM pin if BlCon34::useEXTI is false, otherwise an external interrupt pin) |
| zero | See Motor::init() |
| dir | See Motor::init() |
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virtual |
Communicate a raw PWM to the motor controller.
Must be implemented in derived classes. The user should call setOpenLoop()
| val | Raw PWM in [-1, 1] |
Implements Motor.
