Diff: RoboteqController.h

Revision:

2:d61b4a989cab

Parent:

1:57b8f6ed930b

Child:

3:a03c91082856

--- a/RoboteqController.h	Sat May 05 16:14:43 2018 +0000
+++ b/RoboteqController.h	Thu May 17 14:26:20 2018 +0000
@@ -15,6 +15,20 @@
 #define SDO_REQUEST    0x600
 #define SDO_ANSWER     0x580
 
+// Motor modes
+#define MODE_OPEN_LOOP          0 // Open-loop
+#define MODE_CLOSED_SPEED       1 // Closed-loop speed
+#define MODE_CLOSED_POS_REL     2 // Closed-loop position relative
+#define MODE_CLOSED_COUNT_POS   3 // Closed-loop count position
+#define MODE_CLOSED_POS_TRACK   4 // Closed-loop position tracking
+#define MODE_CLOSED_TORQUE      5 // Torque
+#define MODE_CLOSED_SPEED_POS   6 // Closed-loop speed position
+
+// Temperatures
+#define TEMPERATURE_MCU         1   // Mcu temperature
+#define TEMPERATURE_CH1         2   // Channel 1 heatsink
+#define TEMPERATURE_CH2         3   // Channel 2 heatsink
+
 class RoboteqController : public PeripheralCAN{
     public:
     /** Constructors and destructor
@@ -84,8 +98,34 @@
     uint8_t node_id;                // Node id of the controller
     uint8_t mot_num;                // Motor number within the controller
     
-    int16_t rotor_speed;            // Rotor speed            
+    /* General Configuration and Safety */
+    // TBD
+    
+    /* Analog, Digital, Pulse IO Configurations  */
+    // TBD
     
+    /* Motor configuration (non-exhaustiv list) */    
+    uint16_t alim;                  // Motor ampere limit (0.1 A)
+    uint8_t kp;                     // PID proportionnal gain
+    uint8_t ki;                     // PID integral gain
+    uint8_t kd;                     // PID derivative gain
+    int32_t mac;                    // Motor acceleration rate (0.1 RPM)
+    int32_t mdec;                   // Motor deceleration rate (0.1 RPM)
+    uint8_t mmod;                   // Motor mode
+    uint16_t mxrpm;                 // Maximal RPM value (eq to a cmd of 1000)
+    
+    int16_t amp_bat;                // Battery current (0.1 A)
+    int16_t amp_motor;              // Motor current (0.1 A)
+    int16_t feedback;               // Closed loop feedback
+    int32_t error                   // Closed loop error
+    int8_t temp_MCU;                // MCU temperature
+    int8_t temp_ch1                 // channel 1 temperature
+    int8_t temp_ch2;                // channel 2 temperature
+    int32_t vars[16];               // Integer user variables
+    bool booleans[16];              // Boolean user variables
+    int16_t speed;                  // Rotor speed       
+    
+    /* CAN Identifiers */  
     unsigned short Id_CSS_REQ;      // CAN ID : CSS request (query or command)
     unsigned short Id_CSS_ANS;      // CAN ID : CSS answer (from query or command)