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.h

Committer:
kkoichy
Date:
2016-06-01
Revision:
4:2e3f45b81f23
Parent:
0:783afa2e2461
Child:
5:95b0238d75a3

File content as of revision 4:2e3f45b81f23:

#ifndef ROBOTEQ_H
#define ROBOTEQ_H

#include "CANopen_Node.h"


namespace mbed {
    
    class Roboteq : public CANopen{
        
        public :
        Roboteq(short _node_id, CAN * _can);
        short GetNodeID(void);
        void SetNodeID(short _id);
        void SetPosition(long _position, uint8_t _channel);
        void SetVelocity(uint16_t _speed, uint8_t _channel);
        void SetEncoderCounter(long _counter, uint8_t _channel);
        void SetBrushlessCounter(long _counter, uint8_t _channel);
        void SetUserIntVariable(long _var, uint8_t _nb_var);
        void SetAcceleration(long _accel, uint8_t _channel);
        void SetDeceleration(long _decel, uint8_t _channel);
        void SetAllDigitalOutBits(uint8_t _out_bits);
        void SetIndividualDigitalOutBits(uint8_t _out_bits);
        void ResetIndividualOutBits(uint8_t _out_bits);
        void LoadHomeCounter(uint8_t _channel);
        void EmergencyShutdown(uint8_t _param);
        void ReleaseShutdown(uint8_t _param);
        void StopInAllModes(uint8_t _channel);
        void SetPosRelative(long _position, uint8_t _channel);
        void SetNextPosAbsolute(long _position, uint8_t _channel);
        void SetNextPosRelative(long _position, uint8_t _channel);
        void SetNextAcceleration(long _accel, uint8_t _channel);
        void SetNextDeceleration(long _decel, uint8_t _channel);
        void SetNextVelocity(uint16_t _speed, uint8_t _channel);
        void SetUserBoolVariable(long _var, uint8_t _nb_var);
        void SaveConfigToFlash(void);
        
        int16_t ReadMotorAmps(uint8_t _channel);
        int16_t ReadActualMotorCommand(uint8_t _channel);
        int16_t ReadAppliedPowerLevel(uint8_t _channel);
        int16_t ReadEncoderMotorSpeed(uint8_t _channel);
        int16_t ReadAbsoluteEncoderCount(uint8_t _channel);
        int16_t ReadAbsoluteBrushlessCounter(uint8_t _channel);
        int16_t ReadUserIntegerVariable(uint8_t _nb_var);
        int16_t ReadEncoderMotorSpeedRelativeToMaxSpeed(uint8_t _channel);
        int16_t ReadEncoderCountRelative(uint8_t _channel);
        int16_t ReadBrushlessCountRelative(uint8_t _channel);
        int16_t ReadBrushlessMotorSpeed(uint8_t _channel);
        int16_t ReadBrushlessMotorSpeedRelativeToMaxSpeed(uint8_t _channel);
        int16_t ReadBatteryAmps(uint8_t _channel);
        uint16_t ReadInternalVoltages(uint8_t _param);
        uint32_t ReadAllDigitalInputs(void);
        int8_t ReadCaseAndInternalTemperatures(uint8_t _param);
        int16_t ReadFeedback(uint8_t _channel);
        uint8_t ReadStatusFlags(void);
        uint8_t ReadFaultFlags(void);
        uint8_t ReadCurrentDigitalOutputs(void);
        int32_t ReadClosedLoopError(uint8_t _channel);
        int32_t ReadUserBooleanVariable(uint8_t _nb_var);
        int32_t ReadInternalSerialCommand(uint8_t _channel);
        int32_t ReadInternalAnalogCommand(uint8_t _channel);
        int32_t ReadInternalPulseCommand(uint8_t _channel);
        uint32_t ReadTime(void);
        uint16_t ReadSpektrumRadioCapture(uint8_t _nb_capture);
        uint8_t ReadDestinationPositionReachedFlag(uint8_t _channel);
        int32_t ReadMEMSAccelerometerAxis(uint8_t _axis);
        uint16_t ReadMagsensorTrackDetect(void);
        uint8_t ReadMagsensorTrackPosition(void);
        uint8_t ReadMagsensorMarkers(void);
        uint8_t ReadMagsensorStatus(void);
        uint8_t ReadMotorStatusFlags(void);
        int32_t ReadIndividualDigitalInputs(uint8_t _input);
        int16_t ReadAnalogInputs(uint8_t _input);
        int16_t ReadAnalogInputsConverted(uint8_t _input);
        int16_t ReadPulseInputs(uint8_t _input);
        int16_t ReadPulseInputsConverted(uint8_t _input);
        
        
        
        
 
        
        
        private :
        
        
        protected :
        
        
        
    };
    
    
}//end namespace


#endif