Pierre David / Roboteq_SDC_serie

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Dependents:   SDC21XX_Motor SDC21XX_Motor

Roboteq.h@4:53d26a675eb3, 2016-06-01 (annotated)

Committer:
kkoichy
Date:
Wed Jun 01 14:58:05 2016 +0000
Revision:
4:53d26a675eb3
Parent:
0:783afa2e2461
Child:
5:95b0238d75a3
V1.2; Added a method to set the acceleration, deceleration and velocity parameters

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kkoichy 0:783afa2e2461 1 #ifndef ROBOTEQ_H
kkoichy 0:783afa2e2461 2 #define ROBOTEQ_H
kkoichy 0:783afa2e2461 3
kkoichy 4:53d26a675eb3 4 #include "CANopen_Node.h"
kkoichy 0:783afa2e2461 5
kkoichy 0:783afa2e2461 6
kkoichy 0:783afa2e2461 7 namespace mbed {
kkoichy 0:783afa2e2461 8
kkoichy 4:53d26a675eb3 9 class Roboteq : public CANopen_Node{
kkoichy 0:783afa2e2461 10
kkoichy 0:783afa2e2461 11 public :
kkoichy 4:53d26a675eb3 12 Roboteq(uint8_t _node_id, CAN * _can);
kkoichy 4:53d26a675eb3 13 void SetParameters(int16_t _velocity, long _accel, long _decel, uint8_t _channel);
kkoichy 0:783afa2e2461 14 void SetPosition(long _position, uint8_t _channel);
kkoichy 0:783afa2e2461 15 void SetVelocity(uint16_t _speed, uint8_t _channel);
kkoichy 0:783afa2e2461 16 void SetEncoderCounter(long _counter, uint8_t _channel);
kkoichy 0:783afa2e2461 17 void SetBrushlessCounter(long _counter, uint8_t _channel);
kkoichy 0:783afa2e2461 18 void SetUserIntVariable(long _var, uint8_t _nb_var);
kkoichy 0:783afa2e2461 19 void SetAcceleration(long _accel, uint8_t _channel);
kkoichy 0:783afa2e2461 20 void SetDeceleration(long _decel, uint8_t _channel);
kkoichy 0:783afa2e2461 21 void SetAllDigitalOutBits(uint8_t _out_bits);
kkoichy 0:783afa2e2461 22 void SetIndividualDigitalOutBits(uint8_t _out_bits);
kkoichy 0:783afa2e2461 23 void ResetIndividualOutBits(uint8_t _out_bits);
kkoichy 0:783afa2e2461 24 void LoadHomeCounter(uint8_t _channel);
kkoichy 0:783afa2e2461 25 void EmergencyShutdown(uint8_t _param);
kkoichy 0:783afa2e2461 26 void ReleaseShutdown(uint8_t _param);
kkoichy 0:783afa2e2461 27 void StopInAllModes(uint8_t _channel);
kkoichy 0:783afa2e2461 28 void SetPosRelative(long _position, uint8_t _channel);
kkoichy 0:783afa2e2461 29 void SetNextPosAbsolute(long _position, uint8_t _channel);
kkoichy 0:783afa2e2461 30 void SetNextPosRelative(long _position, uint8_t _channel);
kkoichy 0:783afa2e2461 31 void SetNextAcceleration(long _accel, uint8_t _channel);
kkoichy 0:783afa2e2461 32 void SetNextDeceleration(long _decel, uint8_t _channel);
kkoichy 0:783afa2e2461 33 void SetNextVelocity(uint16_t _speed, uint8_t _channel);
kkoichy 0:783afa2e2461 34 void SetUserBoolVariable(long _var, uint8_t _nb_var);
kkoichy 0:783afa2e2461 35 void SaveConfigToFlash(void);
kkoichy 0:783afa2e2461 36
kkoichy 0:783afa2e2461 37 int16_t ReadMotorAmps(uint8_t _channel);
kkoichy 0:783afa2e2461 38 int16_t ReadActualMotorCommand(uint8_t _channel);
kkoichy 0:783afa2e2461 39 int16_t ReadAppliedPowerLevel(uint8_t _channel);
kkoichy 0:783afa2e2461 40 int16_t ReadEncoderMotorSpeed(uint8_t _channel);
kkoichy 0:783afa2e2461 41 int16_t ReadAbsoluteEncoderCount(uint8_t _channel);
kkoichy 0:783afa2e2461 42 int16_t ReadAbsoluteBrushlessCounter(uint8_t _channel);
kkoichy 0:783afa2e2461 43 int16_t ReadUserIntegerVariable(uint8_t _nb_var);
kkoichy 0:783afa2e2461 44 int16_t ReadEncoderMotorSpeedRelativeToMaxSpeed(uint8_t _channel);
kkoichy 0:783afa2e2461 45 int16_t ReadEncoderCountRelative(uint8_t _channel);
kkoichy 0:783afa2e2461 46 int16_t ReadBrushlessCountRelative(uint8_t _channel);
kkoichy 0:783afa2e2461 47 int16_t ReadBrushlessMotorSpeed(uint8_t _channel);
kkoichy 0:783afa2e2461 48 int16_t ReadBrushlessMotorSpeedRelativeToMaxSpeed(uint8_t _channel);
kkoichy 0:783afa2e2461 49 int16_t ReadBatteryAmps(uint8_t _channel);
kkoichy 0:783afa2e2461 50 uint16_t ReadInternalVoltages(uint8_t _param);
kkoichy 0:783afa2e2461 51 uint32_t ReadAllDigitalInputs(void);
kkoichy 0:783afa2e2461 52 int8_t ReadCaseAndInternalTemperatures(uint8_t _param);
kkoichy 0:783afa2e2461 53 int16_t ReadFeedback(uint8_t _channel);
kkoichy 0:783afa2e2461 54 uint8_t ReadStatusFlags(void);
kkoichy 0:783afa2e2461 55 uint8_t ReadFaultFlags(void);
kkoichy 0:783afa2e2461 56 uint8_t ReadCurrentDigitalOutputs(void);
kkoichy 0:783afa2e2461 57 int32_t ReadClosedLoopError(uint8_t _channel);
kkoichy 0:783afa2e2461 58 int32_t ReadUserBooleanVariable(uint8_t _nb_var);
kkoichy 0:783afa2e2461 59 int32_t ReadInternalSerialCommand(uint8_t _channel);
kkoichy 0:783afa2e2461 60 int32_t ReadInternalAnalogCommand(uint8_t _channel);
kkoichy 0:783afa2e2461 61 int32_t ReadInternalPulseCommand(uint8_t _channel);
kkoichy 0:783afa2e2461 62 uint32_t ReadTime(void);
kkoichy 0:783afa2e2461 63 uint16_t ReadSpektrumRadioCapture(uint8_t _nb_capture);
kkoichy 0:783afa2e2461 64 uint8_t ReadDestinationPositionReachedFlag(uint8_t _channel);
kkoichy 0:783afa2e2461 65 int32_t ReadMEMSAccelerometerAxis(uint8_t _axis);
kkoichy 0:783afa2e2461 66 uint16_t ReadMagsensorTrackDetect(void);
kkoichy 0:783afa2e2461 67 uint8_t ReadMagsensorTrackPosition(void);
kkoichy 0:783afa2e2461 68 uint8_t ReadMagsensorMarkers(void);
kkoichy 0:783afa2e2461 69 uint8_t ReadMagsensorStatus(void);
kkoichy 0:783afa2e2461 70 uint8_t ReadMotorStatusFlags(void);
kkoichy 0:783afa2e2461 71 int32_t ReadIndividualDigitalInputs(uint8_t _input);
kkoichy 0:783afa2e2461 72 int16_t ReadAnalogInputs(uint8_t _input);
kkoichy 0:783afa2e2461 73 int16_t ReadAnalogInputsConverted(uint8_t _input);
kkoichy 0:783afa2e2461 74 int16_t ReadPulseInputs(uint8_t _input);
kkoichy 0:783afa2e2461 75 int16_t ReadPulseInputsConverted(uint8_t _input);
kkoichy 0:783afa2e2461 76
kkoichy 0:783afa2e2461 77
kkoichy 0:783afa2e2461 78
kkoichy 0:783afa2e2461 79
kkoichy 0:783afa2e2461 80
kkoichy 0:783afa2e2461 81
kkoichy 0:783afa2e2461 82
kkoichy 0:783afa2e2461 83 private :
kkoichy 0:783afa2e2461 84
kkoichy 0:783afa2e2461 85
kkoichy 0:783afa2e2461 86 protected :
kkoichy 0:783afa2e2461 87
kkoichy 0:783afa2e2461 88
kkoichy 0:783afa2e2461 89
kkoichy 0:783afa2e2461 90 };
kkoichy 0:783afa2e2461 91
kkoichy 0:783afa2e2461 92
kkoichy 0:783afa2e2461 93 }//end namespace
kkoichy 0:783afa2e2461 94
kkoichy 0:783afa2e2461 95
kkoichy 0:783afa2e2461 96 #endif