Ménagerie Technologique / Roboteq_SDC_serie

Command library for the Roboteq SDC21XX serie of DC Motor drivers, using CANopen Interface. This library replicates the CANopen commands detailled in the User's Manual for the SDC21XX Serie, Section 14 CANopen Interface. Please refer to this document for more details about the use of any of the commands.

Dependents:   SDC21XX_Motor

Fork of Roboteq_SDC_serie by Pierre David

Roboteq.cpp@7:9a17b688dd59, 2016-07-11 (annotated)

Committer:
kkoichy
Date:
Mon Jul 11 10:33:59 2016 +0000
Revision:
7:9a17b688dd59
Parent:
3:53d26a675eb3 
Added comments

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kkoichy 0:783afa2e2461 1 #include "Roboteq.h"
kkoichy 0:783afa2e2461 2
kkoichy 0:783afa2e2461 3
kkoichy 0:783afa2e2461 4 namespace mbed {
kkoichy 0:783afa2e2461 5
kkoichy 3:53d26a675eb3 6 Roboteq::Roboteq(uint8_t _node_id, CAN * _can) : CANopen_Node(_node_id, _can)
kkoichy 0:783afa2e2461 7 {
kkoichy 0:783afa2e2461 8
kkoichy 0:783afa2e2461 9
kkoichy 0:783afa2e2461 10 }
kkoichy 3:53d26a675eb3 11
kkoichy 3:53d26a675eb3 12 void Roboteq::SetParameters(int16_t _velocity, long _accel, long _decel, uint8_t _channel)
kkoichy 3:53d26a675eb3 13 {
kkoichy 3:53d26a675eb3 14 SetVelocity(_velocity, _channel);
kkoichy 3:53d26a675eb3 15 SetAcceleration(_accel, _channel);
kkoichy 3:53d26a675eb3 16 SetDeceleration(_decel, _channel);
kkoichy 3:53d26a675eb3 17 SaveConfigToFlash();
kkoichy 3:53d26a675eb3 18 }
kkoichy 3:53d26a675eb3 19
kkoichy 0:783afa2e2461 20 void Roboteq::SetPosition(long _position, uint8_t _channel)
kkoichy 0:783afa2e2461 21 {
kkoichy 0:783afa2e2461 22 Send_Initiate_SDO_Download(0x2001, _channel, _position);
kkoichy 0:783afa2e2461 23 }
kkoichy 0:783afa2e2461 24 void Roboteq::SetVelocity(uint16_t _speed, uint8_t _channel)
kkoichy 0:783afa2e2461 25 {
kkoichy 0:783afa2e2461 26 Send_Initiate_SDO_Download(0x2002, _channel, _speed);
kkoichy 0:783afa2e2461 27 }
kkoichy 0:783afa2e2461 28 void Roboteq::SetEncoderCounter(long _counter, uint8_t _channel)
kkoichy 0:783afa2e2461 29 {
kkoichy 0:783afa2e2461 30 Send_Initiate_SDO_Download(0x2003, _channel, _counter);
kkoichy 0:783afa2e2461 31 }
kkoichy 0:783afa2e2461 32 void Roboteq::SetBrushlessCounter(long _counter, uint8_t _channel)
kkoichy 0:783afa2e2461 33 {
kkoichy 0:783afa2e2461 34 Send_Initiate_SDO_Download(0x2004, _channel, _counter);
kkoichy 0:783afa2e2461 35 }
kkoichy 0:783afa2e2461 36 void Roboteq::SetUserIntVariable(long _var, uint8_t _nb_var)
kkoichy 0:783afa2e2461 37 {
kkoichy 0:783afa2e2461 38 Send_Initiate_SDO_Download(0x2005, _nb_var, _var);
kkoichy 0:783afa2e2461 39 }
kkoichy 0:783afa2e2461 40 void Roboteq::SetAcceleration(long _accel, uint8_t _channel)
kkoichy 0:783afa2e2461 41 {
kkoichy 0:783afa2e2461 42 Send_Initiate_SDO_Download(0x2006, _channel, _accel);
kkoichy 0:783afa2e2461 43 }
kkoichy 0:783afa2e2461 44 void Roboteq::SetDeceleration(long _decel, uint8_t _channel)
kkoichy 0:783afa2e2461 45 {
kkoichy 0:783afa2e2461 46 Send_Initiate_SDO_Download(0x2007, _channel, _decel);
kkoichy 0:783afa2e2461 47 }
kkoichy 0:783afa2e2461 48 void Roboteq::SetAllDigitalOutBits(uint8_t _out_bits)
kkoichy 0:783afa2e2461 49 {
kkoichy 0:783afa2e2461 50 Send_Initiate_SDO_Download(0x2008, 0, _out_bits);
kkoichy 0:783afa2e2461 51 }
kkoichy 0:783afa2e2461 52 void Roboteq::SetIndividualDigitalOutBits(uint8_t _out_bits)
kkoichy 0:783afa2e2461 53 {
kkoichy 0:783afa2e2461 54 Send_Initiate_SDO_Download(0x2009, 0, _out_bits);
kkoichy 0:783afa2e2461 55 }
kkoichy 0:783afa2e2461 56 void Roboteq::ResetIndividualOutBits(uint8_t _out_bits)
kkoichy 0:783afa2e2461 57 {
kkoichy 0:783afa2e2461 58 Send_Initiate_SDO_Download(0x200a, 0, _out_bits);
kkoichy 0:783afa2e2461 59 }
kkoichy 0:783afa2e2461 60 void Roboteq::LoadHomeCounter(uint8_t _channel)
kkoichy 0:783afa2e2461 61 {
kkoichy 0:783afa2e2461 62 Send_Initiate_SDO_Download(0x200b, 0, 0);
kkoichy 0:783afa2e2461 63 }
kkoichy 0:783afa2e2461 64 void Roboteq::EmergencyShutdown(uint8_t _param)
kkoichy 0:783afa2e2461 65 {
kkoichy 0:783afa2e2461 66 Send_Initiate_SDO_Download(0x200c, 0, 0);
kkoichy 0:783afa2e2461 67 }
kkoichy 0:783afa2e2461 68 void Roboteq::ReleaseShutdown(uint8_t _param)
kkoichy 0:783afa2e2461 69 {
kkoichy 0:783afa2e2461 70 Send_Initiate_SDO_Download(0x200d, 0, 0);
kkoichy 0:783afa2e2461 71 }
kkoichy 0:783afa2e2461 72 void Roboteq::StopInAllModes(uint8_t _channel)
kkoichy 0:783afa2e2461 73 {
kkoichy 0:783afa2e2461 74 Send_Initiate_SDO_Download(0x200e, _channel, 0);
kkoichy 0:783afa2e2461 75 }
kkoichy 0:783afa2e2461 76 void Roboteq::SetPosRelative(long _position, uint8_t _channel)
kkoichy 0:783afa2e2461 77 {
kkoichy 0:783afa2e2461 78 Send_Initiate_SDO_Download(0x200f, _channel, _position);
kkoichy 0:783afa2e2461 79 }
kkoichy 0:783afa2e2461 80 void Roboteq::SetNextPosAbsolute(long _position, uint8_t _channel)
kkoichy 0:783afa2e2461 81 {
kkoichy 0:783afa2e2461 82 Send_Initiate_SDO_Download(0x2010, _channel, _position);
kkoichy 0:783afa2e2461 83 }
kkoichy 0:783afa2e2461 84 void Roboteq::SetNextPosRelative(long _position, uint8_t _channel)
kkoichy 0:783afa2e2461 85 {
kkoichy 0:783afa2e2461 86 Send_Initiate_SDO_Download(0x2011, _channel, _position);
kkoichy 0:783afa2e2461 87 }
kkoichy 0:783afa2e2461 88 void Roboteq::SetNextAcceleration(long _accel, uint8_t _channel)
kkoichy 0:783afa2e2461 89 {
kkoichy 0:783afa2e2461 90 Send_Initiate_SDO_Download(0x2012, _channel, _accel);
kkoichy 0:783afa2e2461 91 }
kkoichy 0:783afa2e2461 92 void Roboteq::SetNextDeceleration(long _decel, uint8_t _channel)
kkoichy 0:783afa2e2461 93 {
kkoichy 0:783afa2e2461 94 Send_Initiate_SDO_Download(0x2013, _channel, _decel);
kkoichy 0:783afa2e2461 95 }
kkoichy 0:783afa2e2461 96 void Roboteq::SetNextVelocity(uint16_t _speed, uint8_t _channel)
kkoichy 0:783afa2e2461 97 {
kkoichy 0:783afa2e2461 98 Send_Initiate_SDO_Download(0x2014, _channel, _speed);
kkoichy 0:783afa2e2461 99 }
kkoichy 0:783afa2e2461 100 void Roboteq::SetUserBoolVariable(long _var, uint8_t _nb_var)
kkoichy 0:783afa2e2461 101 {
kkoichy 0:783afa2e2461 102 Send_Initiate_SDO_Download(0x2015, _nb_var, _var);
kkoichy 0:783afa2e2461 103 }
kkoichy 0:783afa2e2461 104 void Roboteq::SaveConfigToFlash(void)
kkoichy 0:783afa2e2461 105 {
kkoichy 0:783afa2e2461 106 Send_Initiate_SDO_Download(0x2017, 0, 0);
kkoichy 0:783afa2e2461 107 }
kkoichy 0:783afa2e2461 108
kkoichy 0:783afa2e2461 109
kkoichy 0:783afa2e2461 110 int16_t Roboteq::ReadMotorAmps(uint8_t _channel)
kkoichy 0:783afa2e2461 111 {
kkoichy 0:783afa2e2461 112 return Send_Initiate_SDO_Upload(0x2100, _channel);
kkoichy 0:783afa2e2461 113 }
kkoichy 0:783afa2e2461 114 int16_t Roboteq::ReadActualMotorCommand(uint8_t _channel)
kkoichy 0:783afa2e2461 115 {
kkoichy 0:783afa2e2461 116 return Send_Initiate_SDO_Upload(0x2101, _channel);
kkoichy 0:783afa2e2461 117 }
kkoichy 0:783afa2e2461 118 int16_t Roboteq::ReadAppliedPowerLevel(uint8_t _channel)
kkoichy 0:783afa2e2461 119 {
kkoichy 0:783afa2e2461 120 return Send_Initiate_SDO_Upload(0x2102, _channel);
kkoichy 0:783afa2e2461 121 }
kkoichy 0:783afa2e2461 122 int16_t Roboteq::ReadEncoderMotorSpeed(uint8_t _channel)
kkoichy 0:783afa2e2461 123 {
kkoichy 0:783afa2e2461 124 return Send_Initiate_SDO_Upload(0x2103, _channel);
kkoichy 0:783afa2e2461 125 }
kkoichy 0:783afa2e2461 126 int16_t Roboteq::ReadAbsoluteEncoderCount(uint8_t _channel)
kkoichy 0:783afa2e2461 127 {
kkoichy 0:783afa2e2461 128 return Send_Initiate_SDO_Upload(0x2104, _channel);
kkoichy 0:783afa2e2461 129 }
kkoichy 0:783afa2e2461 130 int16_t Roboteq::ReadAbsoluteBrushlessCounter(uint8_t _channel)
kkoichy 0:783afa2e2461 131 {
kkoichy 0:783afa2e2461 132 return Send_Initiate_SDO_Upload(0x2105, _channel);
kkoichy 0:783afa2e2461 133 }
kkoichy 0:783afa2e2461 134 int16_t Roboteq::ReadUserIntegerVariable(uint8_t _nb_var)
kkoichy 0:783afa2e2461 135 {
kkoichy 0:783afa2e2461 136 return Send_Initiate_SDO_Upload(0x2106, _nb_var);
kkoichy 0:783afa2e2461 137 }
kkoichy 0:783afa2e2461 138 int16_t Roboteq::ReadEncoderMotorSpeedRelativeToMaxSpeed(uint8_t _channel)
kkoichy 0:783afa2e2461 139 {
kkoichy 0:783afa2e2461 140 return Send_Initiate_SDO_Upload(0x2107, _channel);
kkoichy 0:783afa2e2461 141 }
kkoichy 0:783afa2e2461 142 int16_t Roboteq::ReadEncoderCountRelative(uint8_t _channel)
kkoichy 0:783afa2e2461 143 {
kkoichy 0:783afa2e2461 144 return Send_Initiate_SDO_Upload(0x2108, _channel);
kkoichy 0:783afa2e2461 145 }
kkoichy 0:783afa2e2461 146 int16_t Roboteq::ReadBrushlessCountRelative(uint8_t _channel)
kkoichy 0:783afa2e2461 147 {
kkoichy 0:783afa2e2461 148 return Send_Initiate_SDO_Upload(0x2109, _channel);
kkoichy 0:783afa2e2461 149 }
kkoichy 0:783afa2e2461 150 int16_t Roboteq::ReadBrushlessMotorSpeed(uint8_t _channel)
kkoichy 0:783afa2e2461 151 {
kkoichy 0:783afa2e2461 152 return Send_Initiate_SDO_Upload(0x210a, _channel);
kkoichy 0:783afa2e2461 153 }
kkoichy 0:783afa2e2461 154 int16_t Roboteq::ReadBrushlessMotorSpeedRelativeToMaxSpeed(uint8_t _channel)
kkoichy 0:783afa2e2461 155 {
kkoichy 0:783afa2e2461 156 return Send_Initiate_SDO_Upload(0x210b, _channel);
kkoichy 0:783afa2e2461 157 }
kkoichy 0:783afa2e2461 158 int16_t Roboteq::ReadBatteryAmps(uint8_t _channel)
kkoichy 0:783afa2e2461 159 {
kkoichy 0:783afa2e2461 160 return Send_Initiate_SDO_Upload(0x210c, _channel);
kkoichy 0:783afa2e2461 161 }
kkoichy 0:783afa2e2461 162 uint16_t Roboteq::ReadInternalVoltages(uint8_t _param)
kkoichy 0:783afa2e2461 163 {
kkoichy 0:783afa2e2461 164 return Send_Initiate_SDO_Upload(0x210d, _param);
kkoichy 0:783afa2e2461 165 }
kkoichy 0:783afa2e2461 166 uint32_t Roboteq::ReadAllDigitalInputs(void)
kkoichy 0:783afa2e2461 167 {
kkoichy 0:783afa2e2461 168 return Send_Initiate_SDO_Upload(0x210e, 0);
kkoichy 0:783afa2e2461 169 }
kkoichy 0:783afa2e2461 170 int8_t Roboteq::ReadCaseAndInternalTemperatures(uint8_t _param)
kkoichy 0:783afa2e2461 171 {
kkoichy 0:783afa2e2461 172 return Send_Initiate_SDO_Upload(0x210f, _param);
kkoichy 0:783afa2e2461 173 }
kkoichy 0:783afa2e2461 174 int16_t Roboteq::ReadFeedback(uint8_t _channel)
kkoichy 0:783afa2e2461 175 {
kkoichy 0:783afa2e2461 176 return Send_Initiate_SDO_Upload(0x2110, _channel);
kkoichy 0:783afa2e2461 177 }
kkoichy 0:783afa2e2461 178 uint8_t Roboteq::ReadStatusFlags(void)
kkoichy 0:783afa2e2461 179 {
kkoichy 0:783afa2e2461 180 return Send_Initiate_SDO_Upload(0x2111, 0);
kkoichy 0:783afa2e2461 181 }
kkoichy 0:783afa2e2461 182 uint8_t Roboteq::ReadFaultFlags(void)
kkoichy 0:783afa2e2461 183 {
kkoichy 0:783afa2e2461 184 return Send_Initiate_SDO_Upload(0x2112, 0);
kkoichy 0:783afa2e2461 185 }
kkoichy 0:783afa2e2461 186 uint8_t Roboteq::ReadCurrentDigitalOutputs(void)
kkoichy 0:783afa2e2461 187 {
kkoichy 0:783afa2e2461 188 return Send_Initiate_SDO_Upload(0x2113, 0);
kkoichy 0:783afa2e2461 189
kkoichy 0:783afa2e2461 190 }
kkoichy 0:783afa2e2461 191 int32_t Roboteq::ReadClosedLoopError(uint8_t _channel)
kkoichy 0:783afa2e2461 192 {
kkoichy 0:783afa2e2461 193 return Send_Initiate_SDO_Upload(0x2114, _channel);
kkoichy 0:783afa2e2461 194 }
kkoichy 0:783afa2e2461 195 int32_t Roboteq::ReadUserBooleanVariable(uint8_t _nb_var)
kkoichy 0:783afa2e2461 196 {
kkoichy 0:783afa2e2461 197 return Send_Initiate_SDO_Upload(0x2115, _nb_var);
kkoichy 0:783afa2e2461 198 }
kkoichy 0:783afa2e2461 199 int32_t Roboteq::ReadInternalSerialCommand(uint8_t _channel)
kkoichy 0:783afa2e2461 200 {
kkoichy 0:783afa2e2461 201 return Send_Initiate_SDO_Upload(0x2116, _channel);
kkoichy 0:783afa2e2461 202 }
kkoichy 0:783afa2e2461 203 int32_t Roboteq::ReadInternalAnalogCommand(uint8_t _channel)
kkoichy 0:783afa2e2461 204 {
kkoichy 0:783afa2e2461 205 return Send_Initiate_SDO_Upload(0x2117, _channel);
kkoichy 0:783afa2e2461 206 }
kkoichy 0:783afa2e2461 207 int32_t Roboteq::ReadInternalPulseCommand(uint8_t _channel)
kkoichy 0:783afa2e2461 208 {
kkoichy 0:783afa2e2461 209 return Send_Initiate_SDO_Upload(0x2118, _channel);
kkoichy 0:783afa2e2461 210 }
kkoichy 0:783afa2e2461 211 uint32_t Roboteq::ReadTime(void)
kkoichy 0:783afa2e2461 212 {
kkoichy 0:783afa2e2461 213 return Send_Initiate_SDO_Upload(0x2119, 0);
kkoichy 0:783afa2e2461 214 }
kkoichy 0:783afa2e2461 215 uint16_t Roboteq::ReadSpektrumRadioCapture(uint8_t _nb_capture)
kkoichy 0:783afa2e2461 216 {
kkoichy 0:783afa2e2461 217 return Send_Initiate_SDO_Upload(0x211a, _nb_capture);
kkoichy 0:783afa2e2461 218 }
kkoichy 0:783afa2e2461 219 uint8_t Roboteq::ReadDestinationPositionReachedFlag(uint8_t _channel)
kkoichy 0:783afa2e2461 220 {
kkoichy 0:783afa2e2461 221 return Send_Initiate_SDO_Upload(0x211b, _channel);
kkoichy 0:783afa2e2461 222 }
kkoichy 0:783afa2e2461 223 int32_t Roboteq::ReadMEMSAccelerometerAxis(uint8_t _axis)
kkoichy 0:783afa2e2461 224 {
kkoichy 0:783afa2e2461 225 return Send_Initiate_SDO_Upload(0x211c, _axis);
kkoichy 0:783afa2e2461 226 }
kkoichy 0:783afa2e2461 227 uint16_t Roboteq::ReadMagsensorTrackDetect(void)
kkoichy 0:783afa2e2461 228 {
kkoichy 0:783afa2e2461 229 return Send_Initiate_SDO_Upload(0x211d, 0);
kkoichy 0:783afa2e2461 230 }
kkoichy 0:783afa2e2461 231 uint8_t Roboteq::ReadMagsensorTrackPosition(void)
kkoichy 0:783afa2e2461 232 {
kkoichy 0:783afa2e2461 233 return Send_Initiate_SDO_Upload(0x211e, 0);
kkoichy 0:783afa2e2461 234 }
kkoichy 0:783afa2e2461 235 uint8_t Roboteq::ReadMagsensorMarkers(void)
kkoichy 0:783afa2e2461 236 {
kkoichy 0:783afa2e2461 237 return Send_Initiate_SDO_Upload(0x211f, 0);
kkoichy 0:783afa2e2461 238 }
kkoichy 0:783afa2e2461 239 uint8_t Roboteq::ReadMagsensorStatus(void)
kkoichy 0:783afa2e2461 240 {
kkoichy 0:783afa2e2461 241 return Send_Initiate_SDO_Upload(0x2120, 0);
kkoichy 0:783afa2e2461 242 }
kkoichy 0:783afa2e2461 243 uint8_t Roboteq::ReadMotorStatusFlags(void)
kkoichy 0:783afa2e2461 244 {
kkoichy 0:783afa2e2461 245 return Send_Initiate_SDO_Upload(0x2121, 0);
kkoichy 0:783afa2e2461 246 }
kkoichy 0:783afa2e2461 247 int32_t Roboteq::ReadIndividualDigitalInputs(uint8_t _input)
kkoichy 0:783afa2e2461 248 {
kkoichy 0:783afa2e2461 249 return Send_Initiate_SDO_Upload(0x6400, _input);
kkoichy 0:783afa2e2461 250 }
kkoichy 0:783afa2e2461 251 int16_t Roboteq::ReadAnalogInputs(uint8_t _input)
kkoichy 0:783afa2e2461 252 {
kkoichy 0:783afa2e2461 253 return Send_Initiate_SDO_Upload(0x6401, _input);
kkoichy 0:783afa2e2461 254 }
kkoichy 0:783afa2e2461 255 int16_t Roboteq::ReadAnalogInputsConverted(uint8_t _input)
kkoichy 0:783afa2e2461 256 {
kkoichy 0:783afa2e2461 257 return Send_Initiate_SDO_Upload(0x6402, _input);
kkoichy 0:783afa2e2461 258 }
kkoichy 0:783afa2e2461 259 int16_t Roboteq::ReadPulseInputs(uint8_t _input)
kkoichy 0:783afa2e2461 260 {
kkoichy 0:783afa2e2461 261 return Send_Initiate_SDO_Upload(0x6403, _input);
kkoichy 0:783afa2e2461 262 }
kkoichy 0:783afa2e2461 263 int16_t Roboteq::ReadPulseInputsConverted(uint8_t _input)
kkoichy 0:783afa2e2461 264 {
kkoichy 0:783afa2e2461 265 return Send_Initiate_SDO_Upload(0x6404, _input);
kkoichy 0:783afa2e2461 266 }
kkoichy 0:783afa2e2461 267
kkoichy 0:783afa2e2461 268
kkoichy 0:783afa2e2461 269 }