hidaka sato
Library for JrkG2. this bases on Arduino Library (https://github.com/pololu/jrk-g2-arduino)
JrkG2.h
- Committer:
- sgrsn
- Date:
- 2018-08-26
- Revision:
- 2:e78c0ddcf337
- Parent:
- 1:d611aa1f9f70
File content as of revision 2:e78c0ddcf337:
#pragma once
#include "mbed.h"
#include "AsyncSerial.hpp"
/*example**********************************
#include "mbed.h"
#include "JrkG2.h"
int main()
{
//on the other or both
//on Serial
AsyncSerial device(p9, p10);
JrkG2Serial jrk(&device);
//on I2C
I2C device(p28, p27);
JrkG2I2C jrk(&device);
while(1)
{
wait_ms(1500);
jrk.setTarget(2500);
wait_ms(1500);
jrk.setTarget(1500);
}
}
***********************************************/
/// This is used to represent a null or missing value for some of the Jrk G2's
/// 16-bit input variables.
const uint16_t JrkG2InputNull = 0xFFFF;
/// This value is returned by getLastError() if the last communication with the
/// device resulted in an unsuccessful read (e.g. timeout or NACK).
const uint8_t JrkG2CommReadError = 50;
/// This enum defines the Jrk's error bits. See the "Error handling" section of
/// the Jrk G2 user's guide for more information about what these errors mean.
///
/// See JrkG2Base::getErrorFlagsHalting() and JrkG2Base::getErrorFlagsOccurred().
enum JrkG2Error
{
AwaitingCommand = 0,
NoPower = 1,
MotorDriver = 2,
InputInvalid = 3,
InputDisconnect = 4,
FeedbackDisconnect = 5,
SoftOvercurrent = 6,
SerialSignal = 7,
SerialOverrun = 8,
SerialBufferFull = 9,
SerialCrc = 10,
SerialProtocol = 11,
SerialTimeout = 12,
HardOvercurrent = 13,
};
/// This enum defines the Jrk G2 command bytes which are used for its serial and
/// I2C interfaces. These bytes are used by the library and you should not need
/// to use them.
enum JrkG2Command
{
SetTarget = 0xC0,
SetTargetLowResRev = 0xE0,
SetTargetLowResFwd = 0xE1,
ForceDutyCycleTarget = 0xF2,
ForceDutyCycle = 0xF4,
MotorOff = 0xFF,
GetVariable8 = 0x80,
GetVariable16 = 0xA0,
GetEEPROMSettings = 0xE3,
GetVariables = 0xE5,
SetRAMSettings = 0xE6,
GetRAMSettings = 0xEA,
GetCurrentChoppingOccurrenceCount = 0xEC,
};
/// This enum defines the modes in which the Jrk G2's duty cycle target or duty
/// cycle, normally derived from the output of its PID algorithm, can be
/// overridden with a forced value.
///
/// See JrkG2Base::getForceMode(), JrkG2Base::forceDutyCycleTarget(), and
/// JrkG2Base::forceDutyCycle().
enum JrkG2ForceMode
{
None = 0,
DutyCycleTarget = 1,
DutyCycle = 2,
};
/// This enum defines the possible causes of a full microcontroller reset for
/// the Jrk G2.
///
/// See JrkG2Base::getDeviceReset().
enum JrkG2Reset
{
PowerUp = 0,
Brownout = 1,
ResetLine = 2,
Watchdog = 4,
Software = 8,
StackOverflow = 16,
StackUnderflow = 32,
};
/// This enum defines the Jrk G2's control and feedback pins
enum JrkG2Pin
{
SCL = 0,
SDA = 1,
TX = 2,
RX = 3,
RC = 4,
AUX = 5,
FBA = 6,
FBT = 7,
};
/// This enum defines the bits in the Jrk G2's Options Byte 3 register. You
/// should not need to use this directly. See JrkG2Base::setResetIntegral(),
/// JrkG2Base::getResetIntegral(), JrkG2Base::setCoastWhenOff(), and
/// JrkG2Base::getCoastWhenOff().
enum JrkG2OptionsByte3
{
ResetIntegral = 0,
CoastWhenOff = 1,
};
/// This is a base class used to represent a connection to a Jrk G2. This class
/// provides high-level functions for sending commands to the Jrk and reading
/// data from it.
///
/// See the subclasses of this class, JrkG2Serial and JrkG2I2C.
class JrkG2Base
{
public:
JrkG2Base()
{
_lastError = 0;
}
/// Returns 0 if the last communication with the device was successful, and
/// non-zero if there was an error.
uint8_t getLastError()
{
return _lastError;
}
/// Sets the target of the Jrk to a value in the range 0 to 4095.
///
/// The target can represent a target duty cycle, speed, or position depending
/// on the feedback mode.
///
/// Example usage:
/// ```
/// jrkG2.setTarget(3000);
/// ```
///
/// This functions sends a "Set target" command to the jrk, which clears the
/// "Awaiting command" error bit and (if the input mode is serial) will set
/// the jrk's input and target variables.
///
/// See also setTargetLowResRev(), setTargetLowResFwd(), getTarget(),
/// forceDutyCycleTarget(), forceDutyCycle().
void setTarget(uint16_t target)
{
// lower 5 bits in command byte
// upper 7 bits in data byte
if (target > 4095) { target = 4095; }
commandW7((uint8_t)SetTarget | (target & 0x1F), target >> 5);
}
/// Sets the target of the Jrk based on a value in the range 0 to 127.
///
/// If the value is zero, then this command is equivalent to the "Stop motor"
/// command. Otherwise, the value maps to a 12-bit target less than 2048.
///
/// If the feedback mode is Analog or Tachometer, then the formula is
/// Target = 2048 - 16 * value.
///
/// If the feedback mode is None (speed control mode), then the formula is
/// Target = 2048 - (600 / 127) * value. This means that a value of
/// 127 will set the duty cycle target to full-speed reverse (-600).
///
/// Example usage:
/// ```
/// jrkG2.setTargetLowResRev(100);
/// ```
///
/// This function sends a "Set target low resolution reverse" command to the
/// Jrk G2, which clears the "Awaiting command" error bit and (if the input
/// mode is serial) will set the jrk's input and target variables.
///
/// See also setTargetLowResFwd(), setTarget(), getTarget(), and stopMotor().
void setTargetLowResRev(uint8_t target)
{
if (target > 127) { target = 127; }
commandW7(SetTargetLowResRev, target);
}
/// Sets the target of the Jrk based on a value in the range 0 to 127 that
/// maps to a 12-bit target of 2048 or greater.
///
/// If the feedback mode is Analog or Tachometer, then the formula is
/// Target = 2048 + 16 * value.
///
/// If the feedback mode is None (speed control mode), then the formula is
/// Target = 2048 + (600 / 127) * value. This means that a value of 127 will
/// set the duty cycle target to full-speed reverse (-600), while a value of
/// zero will make the motor stop.
///
/// Example usage:
/// ```
/// jrkG2.setTargetLowResFwd(100);
/// ```
///
/// This function sends a "Set target low resolution forward" command to the
/// Jrk G2, which clears the "Awaiting command" error bit and (if the input
/// mode is serial) will set the jrk's input and target variables.
///
/// See also setTargetLowResRev(), setTarget(), and getTarget().
void setTargetLowResFwd(uint8_t target)
{
if (target > 127) { target = 127; }
commandW7(SetTargetLowResFwd, target);
}
/// Forces the duty cycle target of the Jrk to a value in the range
/// -600 to +600.
///
/// The Jrk will ignore the results of the usual algorithm for choosing the duty
/// cycle target, and instead set it to be equal to the target specified by this
/// command. The Jrk will set its 'Integral' variable to 0 while in this mode.
///
/// This is useful if the Jrk is configured to use feedback but you want to take
/// control of the motor for some time, while still respecting errors and motor
/// limits as usual.
///
/// Example usage:
/// ```
/// jrkG2.forceDutyCycleTarget(250);
/// ```
///
/// This function sends a "Force duty cycle target" command to the Jrk G2, which
/// clears the "Awaiting command" error bit.
///
/// To get out of this mode, use setTarget(), setTargetLowResFwd(),
/// setTargetLowResRev(), forceDutyCycle(), or stopMotor().
///
/// See also getForceMode().
void forceDutyCycleTarget(int16_t dutyCycle)
{
if (dutyCycle > 600) { dutyCycle = 600; }
if (dutyCycle < -600) { dutyCycle = -600; }
commandWs14(ForceDutyCycleTarget, dutyCycle);
}
/// Forces the duty cycle of the Jrk to a value in the range -600 to +600.
///
/// The jrk will ignore the results of the usual algorithm for choosing the
/// duty cycle, and instead set it to be equal to the value specified by this
/// command, ignoring all motor limits except the maximum duty cycle
/// parameters, and ignoring the 'Input invalid', 'Input disconnect', and
/// 'Feedback disconnect' errors. This command will have an immediate effect,
/// regardless of the PID period. The jrk will set its 'Integral' variable to
/// 0 while in this mode.
///
/// This is useful if the jrk is configured to use feedback but you want to take
/// control of the motor for some time, without respecting most motor limits.
///
/// Example usage:
/// ```
/// jrkG2.forceDutyCycle(250);
/// ```
///
/// This function sends a "Force duty cycle" command to the Jrk G2, which
/// clears the "Awaiting command" error bit.
///
/// To get out of this mode, use setTarget(), setTargetLowResFwd(),
/// setTargetLowResRev(), forceDutyCycleTarget(), or stopMotor().
///
/// See also getForceMode().
void forceDutyCycle(int16_t dutyCycle)
{
if (dutyCycle > 600) { dutyCycle = 600; }
if (dutyCycle < -600) { dutyCycle = -600; }
commandWs14(ForceDutyCycle, dutyCycle);
}
/// Turns the motor off.
///
/// This function sends a "Stop motor" command to the Jrk, which sets the
/// "Awaiting command" error bit. The Jrk will respect the configured
/// deceleration limit while decelerating to a duty cycle of 0, unless the
/// "Awaiting command" error has been configured as a hard error. Once the duty
/// cycle reaches zero, the Jrk will either brake or coast.
///
/// Example usage:
/// ```
/// jrkG2.stopMotor();
/// ```
void stopMotor()
{
commandQuick(MotorOff);
}
///@}
///\name Variable reading commands
///@{
/// Gets the input variable.
///
/// The input variable is a raw, unscaled value representing a measurement
/// taken by the Jrk of the input to the system. In serial input mode, the
/// input is equal to the target, which can be set to any value from 0 to 4095
/// using serial commands. In analog input mode, the input is a measurement
/// of the voltage on the SDA pin, where 0 is 0 V and 4092 is a voltage equal
/// to the Jrk's 5V pin (approximately 4.8 V). In RC input mode, the input is
/// the duration of the last RC pulse measured, in units of 2/3 us.
///
/// See the Jrk G2 user's guide for more information about input modes.
///
/// See also getTarget() and setTarget().
uint16_t getInput()
{
return getVar16SingleByte(Input);
}
/// Gets the target variable.
///
/// In serial input mode, the target is set directly with serial commands. In
/// the other input modes, the target is computed by scaling the input, using
/// the configurable input scaling settings.
///
/// See also setTarget() and getInput().
uint16_t getTarget()
{
return getVar16SingleByte(Target);
}
/// Gets the feedback variable.
///
/// The feedback variable is a raw, unscaled feedback value, representing a
/// measurement taken by the Jrk of the output of the system. In analog
/// feedback mode, the feedback is a measurement of the voltage on the FBA
/// pin, where 0 is 0 V and 4092 is a voltage equal to the Jrk's 5V pin
/// (approximately 4.8 V). In frequency feedback mode, the feedback is 2048
/// plus or minus a measurement of the frequency of pulses on the FBT pin. In
/// feedback mode none (open-loop speed control mode), the feedback is always
/// zero.
///
/// See also getScaledFeedback().
uint16_t getFeedback()
{
return getVar16SingleByte(Feedback);
}
/// Gets the scaled feedback variable.
///
/// The scaled feedback is calculated from the feedback using the Jrk's
/// configurable feedback scaling settings.
///
/// See also getFeedback().
uint16_t getScaledFeedback()
{
return getVar16SingleByte(ScaledFeedback);
}
/// Gets the integral variable.
///
/// In general, every PID period, the error (scaled feedback minus target) is
/// added to the integral (also known as error sum). There are several
/// settings to configure the behavior of this variable, and it is used in the
/// PID calculation.
int16_t getIntegral()
{
return getVar16SingleByte(Integral);
}
/// Gets the duty cycle target variable.
///
/// In general, this is the duty cycle that the Jrk is trying to achieve. A
/// value of -600 or less means full speed reverse, while a value of 600 or
/// more means full speed forward. A value of 0 means stopped (braking or
/// coasting). In no feedback mode (open-loop speed control mode), the duty
/// cycle target is normally the target minus 2048. In other feedback modes,
/// the duty cycle target is normally the sum of the proportional, integral,
/// and derivative terms of the PID algorithm. In any mode, the duty cycle
/// target can be overridden with forceDutyCycleTarget().
///
/// If an error is stopping the motor, the duty cycle target variable will not
/// be directly affected, but the duty cycle variable will change/decelerate
/// to zero.
///
/// See also getDutyCycle(), getLastDutyCycle(), and forceDutyCycleTarget().
int16_t getDutyCycleTarget()
{
return getVar16SingleByte(DutyCycleTarget);
}
/// Gets the duty cycle variable.
///
/// The duty cycle variable is the duty cycle at which the jrk is currently
/// driving the motor. A value of -600 means full speed reverse, while a
/// value of 600 means full speed forward. A value of 0 means stopped
/// (braking or coasting). The duty cycle could be different from the duty
/// cycle target because it normally takes into account the Jrk's configurable
/// motor limits and errors. The duty cycle can be overridden with
/// forceDutyCycle().
///
/// See also getLastDutyCycle(), getDutyCycleTarget(), and forceDutyCycle().
int16_t getDutyCycle()
{
return getVar16SingleByte(DutyCycle);
}
/// Gets the most-significant 8 bits of the "Current" variable.
///
/// The Jrk G2 supports this command mainly to be compatible with older Jrk
/// models. In new applications, we recommend using getCurrent(), which
/// provides a higher-resolution measurement.
uint8_t getCurrentLowRes()
{
return getVar8SingleByte(CurrentLowRes);
}
/// Returns true if the Jrk's most recent PID cycle took more time than the
/// configured PID period. This indicates that the Jrk does not have time to
/// perform all of its tasks at the desired rate. Most often, this is caused
/// by the configured number of analog samples for input, feedback, or current
/// sensing being too high for the configured PID period.
bool getPIDPeriodExceeded()
{
return getVar8SingleByte(PIDPeriodExceeded);
}
/// Get the "PID period count" variable, which is the number of PID periods
/// that have elapsed. It resets to 0 after reaching 65535. The duration of
/// the PID period can be configured.
uint16_t getPIDPeriodCount()
{
return getVar16SingleByte(PIDPeriodCount);
}
/// Gets the errors that are currently stopping the motor and clears any
/// latched errors that are enabled. Calling this function is equivalent to
/// reading the "Currently stopping motor?" column in the Errors tab of the
/// configuration utility, and then clicking the "Clear Errors" button.
///
/// Each bit in the returned register represents a different error. The bits
/// are defined in the ::JrkG2Error enum.
///
/// Example usage:
/// ```
/// uint16_t errors = jrk.getErrorFlagsHalting();
/// if (errors & (1 << (uint8_t)JrkG2Error::NoPower))
/// {
/// // handle loss of power
/// }
/// ```
///
/// It is possible to read this variable without clearing the bits in it using
/// a getVariables().
///
/// See also getErrorFlagsOccurred().
uint16_t getErrorFlagsHalting()
{
return getVar16SingleByte(ErrorFlagsHalting);
}
/// Gets the errors that have occurred since the last time this function was
/// called. Unlike getErrorFlagsHalting(), calling this function has no
/// effect on the motor.
///
/// Note that the Jrk G2 Control Center constantly clears the bits in this
/// register, so if you are running the Jrk G2 Control Center then you will
/// not be able to reliably detect errors with this function.
///
/// Each bit in the returned register represents a different error. The bits
/// are defined in the ::JrkG2Error enum.
///
/// Example usage:
/// ```
/// uint32_t errors = jrk.getErrorsOccurred();
/// if (errors & (1 << (uint8_t)JrkG2Error::MotorDriver))
/// {
/// // handle a motor driver error
/// }
/// ```
///
/// It is possible to read this variable without clearing the bits in it using
/// getVariables().
///
/// See also getErrorFlagsHalting().
uint16_t getErrorFlagsOccurred()
{
return getVar16SingleByte(ErrorFlagsOccurred);
}
/// Returns an indication of whether the Jrk's duty cycle target or duty cycle
/// are being overridden with a forced value.
///
/// Example usage:
/// ```
/// if (jrk.getForceMode() == JrkG2ForceMode::DutyCycleTarget)
/// {
/// // The duty cycle target is being overridden with a forced value.
/// }
/// ```
///
/// See also forceDutyCycleTarget() and forceDutyCycle().
JrkG2ForceMode getForceMode()
{
return (JrkG2ForceMode)(getVar8SingleByte(FlagByte1) & 0x03);
}
/// Gets the measurement of the VIN voltage, in millivolts.
///
/// Example usage:
/// ```
/// uint16_t vin = jrk.getVinVoltage();
/// ```
uint16_t getVinVoltage()
{
return getVar16SingleByte(VinVoltage);
}
/// Gets the Jrk's measurement of the current running through the motor, in
/// milliamps.
uint16_t getCurrent()
{
return getVar16SingleByte(Current);
}
/// Gets the cause of the Jrk's last full microcontroller reset.
///
/// Example usage:
/// ```
/// if (jrk.getDeviceReset() == JrkG2Reset::Brownout)
/// {
/// // There was a brownout reset; the power supply could not keep up.
/// }
/// ```
JrkG2Reset getDeviceReset()
{
return (JrkG2Reset)getVar8(DeviceReset);
}
/// Gets the time since the last full reset of the Jrk's microcontroller, in
/// milliseconds.
///
/// Example usage:
/// ```
/// uint32_t upTime = jrk.getUpTime();
/// ```
uint32_t getUpTime()
{
return getVar32(UpTime);
}
/// Gets the raw RC pulse width measured on the Jrk's RC input, in units of
/// twelfths of a microsecond.
///
/// Returns 0 if the RC input is missing or invalid.
///
/// Example usage:
/// ```
/// uint16_t pulseWidth = jrk.getRCPulseWidth();
/// if (pulseWidth != 0 && pulseWidth < 18000)
/// {
/// // Input is valid and pulse width is less than 1500 microseconds.
/// }
/// ```
uint16_t getRCPulseWidth()
{
return getVar16(RCPulseWidth);
}
/// Gets the raw pulse rate or pulse width measured on the Jrk's FBT
/// (tachometer feedback) pin.
///
/// In pulse counting mode, this will be the number of pulses on the FBT pin
/// seen in the last N PID periods, where N is the "Pulse samples" setting.
///
/// In pulse timing mode, this will be a measurement of the width of pulses on
/// the FBT pin. This measurement is affected by several configurable
/// settings.
///
/// Example usage:
/// ```
/// uint16_t fbtReading = jrk.getFBTReading();
/// ```
uint16_t getFBTReading()
{
return getVar16(FBTReading);
}
/// Gets the analog reading from the specified pin.
///
/// The reading is left-justified, so 0xFFFE represents a voltage equal to the
/// Jrk's 5V pin (approximately 4.8 V).
///
/// Returns JrkG2InputNull if the analog reading is disabled or not ready or
/// the pin is invalid.
///
/// Example usage:
/// ```
/// uint16_t reading = getAnalogReading(JrkG2Pin::SDA);
/// if (reading != JrkG2InputNull && reading < 32768)
/// {
/// // The reading is less than about 2.4 V.
/// }
/// ```
uint16_t getAnalogReading(JrkG2Pin pin)
{
switch (pin)
{
case SDA:
return getVar16(AnalogReadingSDA);
case FBA:
return getVar16(AnalogReadingFBA);
default:
return JrkG2InputNull;
}
}
/// Gets a digital reading from the specified pin.
///
/// A return value of 0 means low while 1 means high. In most cases, pins
/// configured as analog inputs cannot be read as digital inputs, so their
/// values will be 0. See getAnalogReading() for those pins.
///
/// Example usage:
/// ```
/// if (jrk.getDigitalReading(JrkG2Pin::RC))
/// {
/// // Something is driving the RC pin high.
/// }
/// ```
bool getDigitalReading(JrkG2Pin pin)
{
uint8_t readings = getVar8(DigitalReadings);
return (readings >> (uint8_t)pin) & 1;
}
/// Gets the Jrk's raw measurement of the current running through the motor.
///
/// This is an analog voltage reading from the Jrk's current sense
/// pin. The units of the reading depend on what hard current limit is being
/// used (getEncodedHardCurrentLimit()).
///
/// See also getCurrent().
uint16_t getRawCurrent()
{
return getVar16(RawCurrent);
}
/// Gets the encoded value representing the hardware current limit the jrk is
/// currently using.
///
/// This command is only valid for the Jrk G2 18v19, 24v13, 18v27, and 24v21.
/// The Jrk G2 21v3 does not have a configurable hard current limit.
///
/// See also setEncodedHardCurrentLimit(), getCurrent().
uint16_t getEncodedHardCurrentLimit()
{
return getVar16(EncodedHardCurrentLimit);
}
/// Gets the duty cycle the Jrk drove the motor with in the last PID period.
///
/// This can be useful for converting the getRawCurrent() reading into
/// milliamps.
///
/// See also getDutyCycle(), getDutyCycleTarget(), and getCurrent().
int16_t getLastDutyCycle()
{
return getVar16(LastDutyCycle);
}
/// Gets the number of consecutive PID periods during which current chopping
/// due to the hard current limit has been active.
///
/// See also getCurrentChoppingOccurrenceCount().
uint8_t getCurrentChoppingConsecutiveCount()
{
return getVar8(CurrentChoppingConsecutiveCount);
}
/// Gets and clears the "Current chopping occurrence count" variable, which is
/// the number of PID periods during which current chopping due to the hard
/// current limit has been active, since the last time the variable was
/// cleared.
///
/// This command is only valid for the Jrk G2 18v19, 24v13, 18v27, and 24v21.
/// The Jrk G2 21v3 cannot sense when current chopping occurs so this command
/// will always return 0.
///
/// See also getCurrentChoppingConsecutiveCount().
uint8_t getCurrentChoppingOccurrenceCount()
{
return commandR8(GetCurrentChoppingOccurrenceCount);
}
///@}
///\name RAM settings commands
///@{
/// Sets or clears the "Reset integral" setting in the Jrk's RAM settings.
///
/// If this setting is set to true, the PID algorithm will reset the integral
/// variable (also known as error sum) when the absolute value of the
/// proportional term exceeds 600.
///
/// When enabled, this can help limit integral wind-up, or the uncontrolled
/// growth of the integral when the feedback system is temporarily unable to
/// keep the error small. This might happen, for example, when the target is
/// changing quickly.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getResetIntegral().
void setResetIntegral(bool reset)
{
uint8_t tmp = getRAMSetting8(OptionsByte3);
if (getLastError()) { return; }
if (reset)
{
tmp |= 1 << (uint8_t)ResetIntegral;
}
else
{
tmp &= ~(1 << (uint8_t)ResetIntegral);
}
setRAMSetting8(OptionsByte3, tmp);
}
/// Gets the "Reset integral" setting from the Jrk's RAM settings.
///
/// See also setResetIntegral().
bool getResetIntegral()
{
return getRAMSetting8(OptionsByte3) >>
(uint8_t)ResetIntegral & 1;
}
/// Sets or clears the "Coast when off" setting in the Jrk's RAM settings.
///
/// By default, the Jrk drives both motor outputs low when the motor is
/// stopped (duty cycle is zero), causing it to brake. If enabled, this
/// setting causes it to instead tri-state both outputs, making the motor
/// coast.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getCoastWhenOff().
void setCoastWhenOff(bool coast)
{
uint8_t tmp = getRAMSetting8(OptionsByte3);
if (getLastError()) { return; }
if (coast)
{
tmp |= 1 << (uint8_t)CoastWhenOff;
}
else
{
tmp &= ~(1 << (uint8_t)CoastWhenOff);
}
setRAMSetting8(OptionsByte3, tmp);
}
/// Gets the "Coast when off" setting from the Jrk's RAM settings.
///
/// See also setCoastWhenOff().
bool getCoastWhenOff()
{
return getRAMSetting8(OptionsByte3) >>
(uint8_t)CoastWhenOff & 1;
}
/// Sets the proportional coefficient in the Jrk's RAM settings.
///
/// This coefficient is used in the Jrk's PID algorithm. The coefficient
/// takes the form:
///
/// multiplier / (2 ^ exponent)
///
/// The multiplier can range from 0 to 1023, and the exponent can range
/// from 0 to 18.
///
/// Example usage:
/// ```
/// // Set the proportional coefficient to 1.125 (9/(2^3)).
/// jrk.setProportionalCoefficient(9, 3);
/// ```
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getProportionalMultiplier() and getProportionalExponent(), as
/// well as setIntegralCoefficient() and setDerivativeCoefficient().
void setProportionalCoefficient(uint16_t multiplier, uint8_t exponent)
{
setPIDCoefficient(ProportionalMultiplier, multiplier, exponent);
}
/// Gets the multiplier part of the proportional coefficient from the Jrk's
/// RAM settings.
///
/// See also getProportionalExponent() and setProportionalCoefficient().
uint16_t getProportionalMultiplier()
{
return getRAMSetting16(ProportionalMultiplier);
}
/// Gets the exponent part of the proportional coefficient from the Jrk's RAM
/// settings.
///
/// See also getProportionalMultiplier() and setProportionalCoefficient().
uint8_t getProportionalExponent()
{
return getRAMSetting8(ProportionalExponent);
}
/// Sets the integral coefficient in the Jrk's RAM settings.
///
/// This coefficient is used in the Jrk's PID algorithm. The coefficient
/// takes the form:
///
/// multiplier / (2 ^ exponent)
///
/// The multiplier can range from 0 to 1023, and the exponent can range
/// from 0 to 18.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getIntegralMultiplier() and getIntegralExponent(), as
/// well as setProportionalCoefficient() and setDerivativeCoefficient().
void setIntegralCoefficient(uint16_t multiplier, uint8_t exponent)
{
setPIDCoefficient(IntegralMultiplier, multiplier, exponent);
}
/// Gets the multiplier part of the integral coefficient from the Jrk's
/// RAM settings.
///
/// See also getIntegralExponent() and setIntegralCoefficient().
uint16_t getIntegralMultiplier()
{
return getRAMSetting16(IntegralMultiplier);
}
/// Gets the exponent part of the integral coefficient from the Jrk's
/// RAM settings.
///
/// See also getIntegralMultiplier() and setIntegralCoefficient().
uint8_t getIntegralExponent()
{
return getRAMSetting8(IntegralExponent);
}
/// Sets the derivative coefficient in the Jrk's RAM settings.
///
/// This coefficient is used in the Jrk's PID algorithm. The coefficient
/// takes the form:
///
/// multiplier / (2 ^ exponent)
///
/// The multiplier can range from 0 to 1023, and the exponent can range
/// from 0 to 18.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getDerivativeMultiplier() and getDerivativeExponent(), as
/// well as setProportionalCoefficient() and setIntegralCoefficient().
void setDerivativeCoefficient(uint16_t multiplier, uint8_t exponent)
{
setPIDCoefficient(DerivativeMultiplier, multiplier, exponent);
}
/// Gets the multiplier part of the derivative coefficient from the
/// Jrk's RAM settings.
///
/// See also getDerivativeExponent() and setDerivativeCoefficient().
uint16_t getDerivativeMultiplier()
{
return getRAMSetting16(DerivativeMultiplier);
}
/// Gets the exponent part of the derivative coefficient from the
/// Jrk's RAM settings.
///
/// See also getDerivativeMultiplier() and setDerivativeCoefficient().
uint8_t getDerivativeExponent()
{
return getRAMSetting8(DerivativeExponent);
}
/// Sets the PID period in the Jrk's RAM settings.
///
/// This is the rate at which the Jrk runs through all of its calculations, in
/// milliseconds. Note that a higher PID period will result in a more slowly
/// changing integral and a higher derivative, so the two corresponding PID
/// coefficients might need to be adjusted whenever the PID period is changed.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getPIDPeriod().
void setPIDPeriod(uint16_t period)
{
setRAMSetting16(PIDPeriod, period);
}
/// Gets the PID period from the Jrk's RAM settings, in milliseconds.
///
/// See also setPIDPeriod().
uint16_t getPIDPeriod()
{
return getRAMSetting16(PIDPeriod);
}
/// Sets the integral limit in the Jrk's RAM settings.
///
/// The PID algorithm prevents the absolute value of the integral variable
/// (also known as error sum) from exceeding this limit. This can help limit
/// integral wind-up. The limit can range from 0 to 32767.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getIntegralLimit().
void setIntegralLimit(uint16_t limit)
{
setRAMSetting16(IntegralLimit, limit);
}
/// Gets the integral limit from the Jrk's RAM settings.
///
/// See also setIntegralLimit().
uint16_t getIntegralLimit()
{
return getRAMSetting16(IntegralLimit);
}
/// Sets the maximum duty cycle while feedback is out of range in the Jrk's
/// RAM settings.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getMaxDutyCycleWhileFeedbackOutOfRange().
void setMaxDutyCycleWhileFeedbackOutOfRange(uint16_t duty)
{
setRAMSetting16(MaxDutyCycleWhileFeedbackOutOfRange, duty);
}
/// Gets the maximum duty cycle while feedback is out of range from the Jrk's RAM
/// settings.
///
/// See also setMaxDutyCycleWhileFeedbackOutOfRange().
uint16_t getMaxDutyCycleWhileFeedbackOutOfRange()
{
return getRAMSetting16(MaxDutyCycleWhileFeedbackOutOfRange);
}
/// Sets the maximum acceleration in the forward direction in the
/// Jrk's RAM settings.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getMaxAccelerationForward(), setMaxAccelerationReverse(),
/// setMaxAcceleration(), and setMaxDecelerationForward().
void setMaxAccelerationForward(uint16_t accel)
{
setRAMSetting16(MaxAccelerationForward, accel);
}
/// Gets the maximum acceleration in the forward direction from the
/// Jrk's RAM settings.
///
/// See also setMaxAccelerationForward().
uint16_t getMaxAccelerationForward()
{
return getRAMSetting16(MaxAccelerationForward);
}
/// Sets the maximum acceleration in the reverse direction in the
/// Jrk's RAM settings.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getMaxAccelerationReverse(), setMaxAccelerationForward(),
/// setMaxAcceleration(), and setMaxDecelerationReverse().
void setMaxAccelerationReverse(uint16_t accel)
{
setRAMSetting16(MaxAccelerationReverse, accel);
}
/// Gets the maximum acceleration in the reverse direction from the
/// Jrk's RAM settings.
///
/// See also setMaxAccelerationReverse().
uint16_t getMaxAccelerationReverse()
{
return getRAMSetting16(MaxAccelerationReverse);
}
/// Sets the maximum acceleration in both directions in the
/// Jrk's RAM settings.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also setMaxAccelerationForward(), setMaxAccelerationReverse(),
/// setMaxDeceleration().
void setMaxAcceleration(uint16_t accel)
{
setRAMSetting16x2(MaxAccelerationForward, accel, accel);
}
/// Sets the maximum deceleration in the forward direction in the Jrk's RAM
/// settings.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getMaxDecelerationForward(), setMaxDecelerationReverse(),
/// setMaxDeceleration(), and setMaxAccelerationForward().
void setMaxDecelerationForward(uint16_t decel)
{
setRAMSetting16(MaxDecelerationForward, decel);
}
/// Gets the maximum deceleration in the forward direction from the Jrk's RAM
/// settings.
///
/// See also setMaxDecelerationForward().
uint16_t getMaxDecelerationForward()
{
return getRAMSetting16(MaxDecelerationForward);
}
/// Sets the maximum deceleration in the reverse direction in the
/// Jrk's RAM settings.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getMaxDecelerationReverse(), setMaxDecelerationForward(),
/// setMaxDeceleration(), and setMaxAccelerationReverse().
void setMaxDecelerationReverse(uint16_t decel)
{
setRAMSetting16(MaxDecelerationReverse, decel);
}
/// Gets the maximum deceleration in the reverse direction from the Jrk's RAM
/// settings.
///
/// See also setMaxDecelerationReverse().
uint16_t getMaxDecelerationReverse()
{
return getRAMSetting16(MaxDecelerationReverse);
}
/// Sets the maximum deceleration in both directions in the
/// Jrk's RAM settings.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also setMaxDecelerationForward(), setMaxDecelerationReverse(),
/// setMaxAcceleration().
void setMaxDeceleration(uint16_t decel)
{
setRAMSetting16x2(MaxDecelerationForward, decel, decel);
}
/// Sets the maximum duty cycle in the forward direction in the
/// Jrk's RAM settings.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getMaxDutyCycleForward(), setMaxDutyCycleReverse().
void setMaxDutyCycleForward(uint16_t duty)
{
setRAMSetting16(MaxDutyCycleForward, duty);
}
/// Gets the maximum duty cycle in the forward direction from the Jrk's RAM
/// settings.
///
/// See also setMaxDutyCycleForward().
uint16_t getMaxDutyCycleForward()
{
return getRAMSetting16(MaxDutyCycleForward);
}
/// Sets the maximum duty cycle in the reverse direction in the
/// Jrk's RAM settings.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getMaxDutyCycleReverse(), setMaxDutyCycleForard().
void setMaxDutyCycleReverse(uint16_t duty)
{
setRAMSetting16(MaxDutyCycleReverse, duty);
}
/// Gets the maximum duty cycle in the reverse direction from the
/// Jrk's RAM settings.
///
/// See also setMaxDutyCycleReverse().
uint16_t getMaxDutyCycleReverse()
{
return getRAMSetting16(MaxDutyCycleReverse);
}
/// Sets the maximum duty cycle for both directions in the
/// Jrk's RAM settings.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also setMaxDutyCycleForward(), setMaxDutyCycleReverse().
void setMaxDutyCycle(uint16_t duty)
{
setRAMSetting16x2(MaxDutyCycleForward, duty, duty);
}
/// Sets the encoded hard current limit for driving in the forward direction
/// in the Jrk's RAM settings.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// This command is only valid for the Jrk G2 18v19, 24v13, 18v27, and 24v21.
/// The Jrk G2 21v3 does not have a configurable hard current limit.
///
/// See also getEncodedHardCurrentLimitForward() and
/// setEncodedHardCurrentLimitReverse().
void setEncodedHardCurrentLimitForward(uint16_t encoded_limit)
{
setRAMSetting16(EncodedHardCurrentLimitForward,
encoded_limit);
}
/// Gets the encoded hard current limit for driving in the forward direction
/// from the Jrk's RAM settings.
///
/// This command is only valid for the Jrk G2 18v19, 24v13, 18v27, and 24v21.
/// The Jrk G2 21v3 does not have a configurable hard current limit.
///
/// See also setEncodedHardCurrentLimitForward().
uint16_t getEncodedHardCurrentLimitForward()
{
return getRAMSetting16(EncodedHardCurrentLimitForward);
}
/// Sets the encoded hard current limit for driving in the reverse direction
/// in the Jrk's RAM settings
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// This command is only valid for the Jrk G2 18v19, 24v13, 18v27, and 24v21.
/// The Jrk G2 21v3 does not have a configurable hard current limit.
///
/// See also getEncodedHardCurrentLimitReverse() and
/// setEncodedHardCurrentLimitForward().
void setEncodedHardCurrentLimitReverse(uint16_t encoded_limit)
{
setRAMSetting16(EncodedHardCurrentLimitReverse, encoded_limit);
}
/// Gets the encoded hard current limit for driving in the reverse direction
/// from the Jrk's RAM settings.
///
/// This command is only valid for the Jrk G2 18v19, 24v13, 18v27, and 24v21.
/// The Jrk G2 21v3 does not have a configurable hard current limit.
///
/// See also setEncodedHardCurrentLimitReverse().
uint16_t getEncodedHardCurrentLimitReverse()
{
return getRAMSetting16(EncodedHardCurrentLimitReverse);
}
/// Sets the encoded hard current limit for both directions in the Jrk's RAM
/// settings.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// This command is only valid for the Jrk G2 18v19, 24v13, 18v27, and 24v21.
/// The Jrk G2 21v3 does not have a configurable hard current limit.
///
/// See also setEncodedHardCurrentLimitForward(),
/// setEncodedHardCurrentLimitReverse(), getEncodedHardCurrentLimit(), and
/// setSoftCurrentLimit().
void setEncodedHardCurrentLimit(uint16_t encoded_limit)
{
setRAMSetting16x2(EncodedHardCurrentLimitForward,
encoded_limit, encoded_limit);
}
/// Sets the brake duration when switching from forward to reverse in the
/// Jrk's RAM settings, in units of 5 ms.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getBrakeDurationForward() and setBrakeDurationReverse().
void setBrakeDurationForward(uint8_t duration)
{
setRAMSetting8(BrakeDurationForward, duration);
}
/// Gets the brake duration when switching from forward to reverse from the
/// Jrk's RAM settings, in units of 5 ms.
///
/// See also setBrakeDurationForward().
uint8_t getBrakeDurationForward()
{
return getRAMSetting8(BrakeDurationForward);
}
/// Sets the brake duration when switching from reverse to forward in the
/// Jrk's RAM settings, in units of 5 ms.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getBrakeDurationReverse() and setBrakeDurationForward().
void setBrakeDurationReverse(uint8_t duration)
{
setRAMSetting8(BrakeDurationReverse, duration);
}
/// Gets the brake duration when switching from reverse to forward from the
/// Jrk's RAM settings, in units of 5 ms.
///
/// See also setBrakeDurationReverse().
uint8_t getBrakeDurationReverse()
{
return getRAMSetting8(BrakeDurationReverse);
}
/// Sets the brake duration for both directions in the Jrk's RAM settings, in
/// units of 5 ms.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also setBrakeDurationForward(), setBrakeDurationReverse().
void setBrakeDuration(uint8_t duration)
{
setRAMSetting8x2(BrakeDurationForward, duration, duration);
}
/// Sets the soft current limit when driving in the forward direction in the
/// Jrk's RAM settings, in units of mA.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getSoftCurrentLimitForward() and setSoftCurrentLimitReverse().
void setSoftCurrentLimitForward(uint16_t current)
{
setRAMSetting16(SoftCurrentLimitForward, current);
}
/// Gets the soft current limit when driving in the forward direction from the
/// Jrk's RAM settings, in units of mA.
///
/// See also setSoftCurrentLimitForward().
uint16_t getSoftCurrentLimitForward()
{
return getRAMSetting16(SoftCurrentLimitForward);
}
/// Sets the soft current limit when driving in the reverse direction in the
/// Jrk's RAM settings, in units of mA.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also getSoftCurrentLimitReverse() and setSoftCurrentLimitForward().
void setSoftCurrentLimitReverse(uint16_t current)
{
setRAMSetting16(SoftCurrentLimitReverse, current);
}
/// Gets the soft current limit when driving in the reverse direction from the
/// Jrk's RAM settings, in units of mA.
///
/// See also setSoftCurrentLimitReverse().
uint16_t getSoftCurrentLimitReverse()
{
return getRAMSetting16(SoftCurrentLimitReverse);
}
/// Sets the soft current limit for driving in both directions in the Jrk's
/// RAM settings, in units of mA.
///
/// You would normally configure this setting ahead of time using the Jrk G2
/// Configuration Utility, but this function allows you to change it
/// temporarily on the fly.
///
/// See also setSoftCurrentLimitForward() and setSoftCurrentLimitReverse(),
/// setEncodedHardCurrentLimit().
void setSoftCurrentLimit(uint16_t current)
{
setRAMSetting16x2(SoftCurrentLimitForward, current, current);
}
// TODO: add functions to get and set the soft current regulation level
///@}
///\name Low-level settings and variables commands
///@{
/// Gets a contiguous block of settings from the Jrk G2's EEPROM.
///
/// The maximum length that can be fetched is 15 bytes.
///
/// Example usage:
/// ```
/// // Get the Jrk's serial device number.
/// uint8_t deviceNumber;
/// jrk.getEEPROMSettings(0x28, 1, &deviceNumber);
/// ```
///
/// For information on how the settings are encoded,
/// see the Jrk G2 user's guide.
void getEEPROMSettings(uint8_t offset, uint8_t length, uint8_t * buffer)
{
segmentRead(GetEEPROMSettings, offset, length, buffer);
}
/// Gets a contiguous block of settings from the Jrk G2's RAM.
///
/// The maximum length that can be fetched is 15 bytes.
///
/// Example usage:
/// ```
/// // Get the Jrk's feedback maximum setting.
/// uint8_t buffer[2];
/// jrk.getRAMSettings(0x1F, 2, buffer);
/// uint16_t feedbackMaximum = buffer[0] + (buffer[1] << 8);
/// ```
///
/// Note that this library has several functions for reading and writing
/// specific RAM settings, and they are easier to use than this function.
///
/// For information on how the settings are encoded,
/// see the Jrk G2 user's guide.
void getRAMSettings(uint8_t offset, uint8_t length, uint8_t * buffer)
{
segmentRead(GetRAMSettings, offset, length, buffer);
}
/// Sets a contiguous block of settings in the Jrk G2's RAM.
///
/// The maximum length that can be written in a single command
/// is 7 bytes over Serial, 13 bytes over I2C.
///
/// Example usage:
/// ```
/// // Set the Jrk's feedback maximum setting.
/// uint16_t feedbackMaximum = 1234;
/// uint8_t buffer[2];
/// buffer[0] = feedbackMaximum & 0xFF;
/// buffer[1] = feedbackMaximum >> 8 & 0xFF;
/// jrk.setRAMSettings(0x1F, 2, buffer);
/// ```
///
/// Note that this library has several functions for reading and writing
/// specific RAM settings, and they are easier to use than this function.
///
/// For information on how the settings are encoded,
/// see the Jrk G2 user's guide.
void setRAMSettings(uint8_t offset, uint8_t length, uint8_t * buffer)
{
segmentWrite(SetRAMSettings, offset, length, buffer);
}
/// Gets a contiguous block of variables from the Jrk G2.
///
/// Note that this library has convenient functions for reading every variable
/// provided by the Jrk. The main reason to use this function is if you want
/// to read multiple variables at once for extra efficiency or to ensure that
/// the variables are in a consistent state.
///
/// The maximum length that can be fetched is 15 bytes.
///
/// Example usage:
/// ```
/// // Get the Jrk's last device reset and its up time.
/// uint8_t buffer[5];
/// jrk.getVariables(0x1F, 5, buffer);
/// ```
///
/// For information on how the variables are encoded,
/// see the Jrk G2 user's guide.
void getVariables(uint8_t offset, uint8_t length, uint8_t * buffer)
{
segmentRead(GetVariables, offset, length, buffer);
}
///@}
protected:
/// Zero if the last communication with the device was successful, non-zero
/// otherwise.
uint8_t _lastError;
private:
enum VarOffset
{
Input = 0x00, // uint16_t
Target = 0x02, // uint16_t
Feedback = 0x04, // uint16_t
ScaledFeedback = 0x06, // uint16_t
Integral = 0x08, // int16_t
DutyCycleTarget = 0x0A, // int16_t
DutyCycle = 0x0C, // int16_t
CurrentLowRes = 0x0E, // uint8_t
PIDPeriodExceeded = 0x0F, // uint8_t
PIDPeriodCount = 0x10, // uint16_t
ErrorFlagsHalting = 0x12, // uint16_t
ErrorFlagsOccurred = 0x14, // uint16_t
FlagByte1 = 0x16, // uint8_t
VinVoltage = 0x17, // uint16_t
Current = 0x19, // uint16_t
// variables above can be read with single-byte commands (GetVariable)
// variables below must be read with segment read (GetVariables)
DeviceReset = 0x1F, // uint8_t
UpTime = 0x20, // uint32_t
RCPulseWidth = 0x24, // uint16_t
FBTReading = 0x26, // uint16_t
AnalogReadingSDA = 0x28, // uint16_t
AnalogReadingFBA = 0x2A, // uint16_t
DigitalReadings = 0x2C, // uint8_t
RawCurrent = 0x2D, // uint16_t
EncodedHardCurrentLimit = 0x2F, // uint16_t
LastDutyCycle = 0x31, // int16_t
CurrentChoppingConsecutiveCount = 0x33, // uint8_t
CurrentChoppingOccurrenceCount = 0x34, // uint8_t; read with dedicated command
};
enum SettingOffset
{
OptionsByte1 = 0x01, // uint8_t
OptionsByte2 = 0x02, // uint8_t
InputMode = 0x03, // uint8_t
InputErrorMinimum = 0x04, // uint16_t,
InputErrorMaximum = 0x06, // uint16_t,
InputMinimum = 0x08, // uint16_t,
InputMaximum = 0x0A, // uint16_t,
InputNeutralMinimum = 0x0C, // uint16_t,
InputNeutralMaximum = 0x0E, // uint16_t,
OutputMinimum = 0x10, // uint16_t,
OutputNeutral = 0x12, // uint16_t,
OutputMaximum = 0x14, // uint16_t,
InputScalingDegree = 0x16, // uint8_t,
InputAnalogSamplesExponent = 0x17, // uint8_t,
FeedbackMode = 0x18, // uint8_t,
FeedbackErrorMinimum = 0x19, // uint16_t,
FeedbackErrorMaximum = 0x1B, // uint16_t,
FeedbackMinimum = 0x1D, // uint16_t,
FeedbackMaximum = 0x1F, // uint16_t,
FeedbackDeadZone = 0x21, // uint8_t,
FeedbackAnalogSamplesExponent = 0x22, // uint8_t,
SerialMode = 0x23, // uint8_t,
SerialBaudRateGenerator = 0x24, // uint16_t,
SerialTimeout = 0x26, // uint16_t,
SerialDeviceNumber = 0x28, // uint16_t,
ErrorEnable = 0x2A, // uint16_t
ErrorLatch = 0x2C, // uint16_t
ErrorHard = 0x2E, // uint16_t
VinCalibration = 0x30, // uint16_t
PwmFrequency = 0x32, // uint8_t
CurrentSamplesExponent = 0x33, // uint8_t
HardOvercurrentThreshold = 0x34, // uint8_t
CurrentOffsetCalibration = 0x35, // uint16_t
CurrentScaleCalibration = 0x37, // uint16_t
FBTMethod = 0x39, // uint8_t
FBTOptions = 0x3A, // uint8_t
FBTTimingTimeout = 0x3B, // uint16_t
FBTSamples = 0x3D, // uint8_t
FBTDividerExponent = 0x3E, // uint8_t
IntegralDividerExponent = 0x3F, // uint8_t
SoftCurrentRegulationLevelForward = 0x40, // uint16_t
SoftCurrentRegulationLevelReverse = 0x42, // uint16_t
OptionsByte3 = 0x50, // uint8_t
ProportionalMultiplier = 0x51, // uint16_t
ProportionalExponent = 0x53, // uint8_t
IntegralMultiplier = 0x54, // uint16_t
IntegralExponent = 0x56, // uint8_t
DerivativeMultiplier = 0x57, // uint16_t
DerivativeExponent = 0x59, // uint8_t
PIDPeriod = 0x5A, // uint16_t
IntegralLimit = 0x5C, // uint16_t
MaxDutyCycleWhileFeedbackOutOfRange = 0x5E, // uint16_t
MaxAccelerationForward = 0x60, // uint16_t
MaxAccelerationReverse = 0x62, // uint16_t
MaxDecelerationForward = 0x64, // uint16_t
MaxDecelerationReverse = 0x66, // uint16_t
MaxDutyCycleForward = 0x68, // uint16_t
MaxDutyCycleReverse = 0x6A, // uint16_t
EncodedHardCurrentLimitForward = 0x6C, // uint16_t
EncodedHardCurrentLimitReverse = 0x6E, // uint16_t
BrakeDurationForward = 0x70, // uint8_t
BrakeDurationReverse = 0x71, // uint8_t
SoftCurrentLimitForward = 0x72, // uint16_t
SoftCurrentLimitReverse = 0x74, // uint16_t
};
uint8_t getVar8SingleByte(uint8_t offset)
{
return commandR8((uint8_t)GetVariable8 | (offset + 1));
}
uint16_t getVar16SingleByte(uint8_t offset)
{
return commandR16((uint8_t)GetVariable16 | (offset + 1));
}
uint8_t getVar8(uint8_t offset)
{
uint8_t result;
segmentRead(GetVariables, offset, 1, &result);
return result;
}
uint16_t getVar16(uint8_t offset)
{
uint8_t buffer[2];
segmentRead(GetVariables, offset, 2, buffer);
return ((uint16_t)buffer[0] << 0) | ((uint16_t)buffer[1] << 8);
}
uint32_t getVar32(uint8_t offset)
{
uint8_t buffer[4];
segmentRead(GetVariables, offset, 4, buffer);
return ((uint32_t)buffer[0] << 0) |
((uint32_t)buffer[1] << 8) |
((uint32_t)buffer[2] << 16) |
((uint32_t)buffer[3] << 24);
}
void setRAMSetting8(uint8_t offset, uint8_t val)
{
segmentWrite(SetRAMSettings, offset, 1, &val);
}
void setRAMSetting16(uint8_t offset, uint16_t val)
{
uint8_t buffer[2] = {(uint8_t)val, (uint8_t)(val >> 8)};
segmentWrite(SetRAMSettings, offset, 2, buffer);
}
void setRAMSetting8x2(uint8_t offset, uint8_t val1, uint8_t val2)
{
uint8_t buffer[2] = {val1, val2};
segmentWrite(SetRAMSettings, offset, 2, buffer);
}
void setRAMSetting16x2(uint8_t offset, uint16_t val1, uint16_t val2)
{
uint8_t buffer[4] = {(uint8_t)val1, (uint8_t)(val1 >> 8),
(uint8_t)val2, (uint8_t)(val2 >> 8)};
segmentWrite(SetRAMSettings, offset, 4, buffer);
}
// set multiplier and exponent together in one segment write
// (slightly faster than separate calls to getRAMSetting16() and getRAMSetting8())
void setPIDCoefficient(uint8_t offset, uint16_t multiplier, uint8_t exponent)
{
uint8_t buffer[3] = {(uint8_t)multiplier, (uint8_t)(multiplier >> 8), exponent};
segmentWrite(SetRAMSettings, offset, 3, buffer);
}
uint8_t getRAMSetting8(uint8_t offset)
{
uint8_t result;
segmentRead(GetRAMSettings, offset, 1, &result);
return result;
}
uint16_t getRAMSetting16(uint8_t offset)
{
uint8_t buffer[2];
segmentRead(GetRAMSettings, offset, 2, buffer);
return ((uint16_t)buffer[0] << 0) | ((uint16_t)buffer[1] << 8);
}
// Convenience functions that take care of casting a JrkG2Command to a uint8_t.
void commandQuick(JrkG2Command cmd)
{
commandQuick((uint8_t)cmd);
}
void commandW7(JrkG2Command cmd, uint8_t val)
{
commandW7((uint8_t)cmd, val);
}
void commandWs14(JrkG2Command cmd, int16_t val)
{
commandWs14((uint8_t)cmd, val);
}
uint8_t commandR8(JrkG2Command cmd)
{
return commandR8((uint8_t)cmd);
}
uint16_t commandR16(JrkG2Command cmd)
{
return commandR16((uint8_t)cmd);
}
void segmentRead(JrkG2Command cmd, uint8_t offset,
uint8_t length, uint8_t * buffer)
{
segmentRead((uint8_t)cmd, offset, length, buffer);
}
void segmentWrite(JrkG2Command cmd, uint8_t offset,
uint8_t length, uint8_t * buffer)
{
segmentWrite((uint8_t)cmd, offset, length, buffer);
}
// Low-level functions implemented by the serial/I2C subclasses.
virtual void commandQuick(uint8_t cmd) = 0;
virtual void commandW7(uint8_t cmd, uint8_t val) = 0;
virtual void commandWs14(uint8_t cmd, int16_t val) = 0;
virtual uint8_t commandR8(uint8_t cmd) = 0;
virtual uint16_t commandR16(uint8_t cmd) = 0;
virtual void segmentRead(uint8_t cmd, uint8_t offset,
uint8_t length, uint8_t * buffer) = 0;
virtual void segmentWrite(uint8_t cmd, uint8_t offset,
uint8_t length, uint8_t * buffer) = 0;
};
/// Represents a serial connection to a Jrk G2.
///
/// For the high-level commands you can use on this object, see JrkG2Base.
class JrkG2Serial : public JrkG2Base
{
public:
JrkG2Serial(AsyncSerial *stream, uint8_t deviceNumber = 255) :
_deviceNumber(deviceNumber)
{
_stream = stream;
}
/// Gets the serial device number this object is using.
uint8_t getDeviceNumber() { return _deviceNumber; }
private:
//Serial *_stream;
AsyncSerial *_stream;
const uint8_t _deviceNumber;
virtual void commandQuick(uint8_t cmd) { sendCommandHeader(cmd); }
virtual void commandW7(uint8_t cmd, uint8_t val);
virtual void commandWs14(uint8_t cmd, int16_t val);
virtual uint8_t commandR8(uint8_t cmd);
virtual uint16_t commandR16(uint8_t cmd);
virtual void segmentRead(uint8_t cmd, uint8_t offset,
uint8_t length, uint8_t * buffer);
virtual void segmentWrite(uint8_t cmd, uint8_t offset,
uint8_t length, uint8_t * buffer);
void sendCommandHeader(uint8_t cmd);
void serialW7(uint8_t val) { _stream->putc(val & 0x7F); }
};
/// Represents an I2C connection to a Jrk G2.
///
/// For the high-level commands you can use on this object, see JrkG2Base.
class JrkG2I2C : public JrkG2Base
{
public:
JrkG2I2C(I2C *i2c, uint8_t address = 11) : _address((address & 0x7F) << 1)
{
_i2c = i2c;
}
/// Gets the I2C address this object is using.
uint8_t getAddress() { return _address; }
private:
I2C *_i2c;
const uint8_t _address;
virtual void commandQuick(uint8_t cmd);
virtual void commandW7(uint8_t cmd, uint8_t val);
virtual void commandWs14(uint8_t cmd, int16_t val);
virtual uint8_t commandR8(uint8_t cmd);
virtual uint16_t commandR16(uint8_t cmd);
virtual void segmentRead(uint8_t cmd, uint8_t offset,
uint8_t length, uint8_t * buffer);
virtual void segmentWrite(uint8_t cmd, uint8_t offset,
uint8_t length, uint8_t * buffer) ;
};