#include <mcdc3006s.h>

Inheritance diagram for Mcdc3006s:

Public Member Functions
int	activate_limits (int action)
	Activates/Deactivates the driver Limits. If the limits aren't activated the driver will NOT respect the Maximum or Minimum positions.
int	calibrate (int limit)
	starts the calibration sequence of the drive
int	disable_driver ()
	Disables the driver.
int	enable_driver ()
	Enables the driver.
int	get_config (driverConf_t *dc)
	Function that gets the current driver configuration as is stored in the flash memory of the driver and writes it in a driverConf_t type format.
int	get_cur_lim ()
	get the continuous current limit (CCL) in mA.
int	get_instant_current (int *current)
	asks for the instant velocity from sensor data of the driver.
int	get_instant_pos (long int *positon)
	asks for the instant position from sensor data of the driver.
int	get_instant_vel (long int *velocity)
	asks for the instant velocity from sensor data of the driver.
long int	get_max_acc ()
	returns the maximum acceleration allowed by the driver. To set this value see
long int	get_max_dec ()
	returns the maximum deceleration allowed by the driver. To set this value see
long int	get_max_pos ()
	returns the maximum position allowed by the driver. To set this value see
long int	get_max_vel ()
	Returns the maximum speed allowed by the driver which is set with setDriverMaxVel() function.
long int	get_min_pos ()
	This function reads from the driver min position from its flash memory.
int	get_peak_cur_lim ()
	get the Peak Current Limit (PCL) in mA.
int	get_sensor (driverSensor_t *sensor)
	asks for sensor data of the driver
int	get_status (driverStatus_t *drvStatus)
	Asks to the driver its current status.
int	init (int baudrate, char dev, char sem)
	high level functions
	Mcdc3006s ()
	Empty constructor.
int	move_abs_pos (long int pos)
	Sends to the driver the order to move to an absolute position in pulses.
int	move_rel_pos (long int pos)
	Sends to the driver the order to move to a relative position in pulses.
int	move_vel (long int vel)
	Sends to the driver the order to move at a determined speed (in rpm)
int	save_to_flash ()
	Save current configuration params to FLASH memory of the drive, so the nest time the drive is turned on it loads this configuration. WARNING!!! It should not be used more than 10,000 times because the FLASH memory could get damaged!!!
int	set_baudrate (int baud)
	tells to the driver at which baudrate we want to operate
int	set_config (driverConf_t dc)
	Function that configures the driver from a driverConf_t type.
int	set_cur_lim (int cl)
	loads continuous current limit
int	set_home_position (long int home)
	Sets the current position as the given value. NOTE: Use only during the calibration phase. This function sends to the driver the Home command. The home commands tells to the driver which is the current position. For example If we send home = 0 we are telling to the driver that the current position is 0 position (and it should used as a reference).
int	set_max_acc (long int maxAcc)
	sets the maximum acceleration allowed by the driver in revolutions/s^2
int	set_max_dec (long int maxDec)
	sets the maximum deceleration allowed by the driver in revolutions/s^2
int	set_max_pos (long int maxPos)
	Sets the maximum absolute position in pulses.
int	set_max_vel (long int maxVel)
	Sets the maximum speed allowed by the driver in rpm.
int	set_min_pos (long int minPos)
	Sets the minimum absolute position in pulses.
int	set_peak_cur_lim (int pcl)
	loads peak current limit
	~Mcdc3006s ()
	Destructor.
Private Attributes
Rs232	_comm

Detailed Description

Definition at line 33 of file mcdc3006s.h.

Constructor & Destructor Documentation

Mcdc3006s::Mcdc3006s ( )

Empty constructor.

Definition at line 30 of file mcdc3006s.cpp.

Mcdc3006s::~Mcdc3006s ( )

Destructor.

Definition at line 36 of file mcdc3006s.cpp.

Member Function Documentation

int Mcdc3006s::activate_limits ( int action ) [virtual]

Activates/Deactivates the driver Limits. If the limits aren't activated the driver will NOT respect the Maximum or Minimum positions.

Parameters:

action it only has two allowed values: ACTIVATE to activate de driver or DEACTIVATE to disable the driver

Returns:: ERR_NOERR if everything works correctly; ERR_WRI in case of error when writing in the driver descriptor file; ERR_OUTOFRANGE if action is not in allowed values set

Implements MotorDriverInterface.

Definition at line 698 of file mcdc3006s.cpp.

int Mcdc3006s::calibrate ( int limit ) [virtual]

starts the calibration sequence of the drive

Parameters:

limit sensor position in pulses measured from the desired 0 position

Returns:: ERR_NOERR If the calibration is done successfully; ERR_NOHOME if it is not possible to establish the home position

Error control here

Implements MotorDriverInterface.

Definition at line 736 of file mcdc3006s.cpp.

int Mcdc3006s::disable_driver ( ) [virtual]

Disables the driver.

Returns:: ERR_NOERR if everything works correctly; ERR_WRI in case of error when writing in the driver descriptor file

Implements MotorDriverInterface.

Definition at line 73 of file mcdc3006s.cpp.

int Mcdc3006s::enable_driver ( ) [virtual]

Enables the driver.

Returns:: ERR_NOERR if everything works correctly; ERR_WRI in case of error when writing in the driver descriptor file

Implements MotorDriverInterface.

Definition at line 58 of file mcdc3006s.cpp.

int Mcdc3006s::get_config ( driverConf_t * dc ) [virtual]

Function that gets the current driver configuration as is stored in the flash memory of the driver and writes it in a driverConf_t type format.

Parameters:

dc	is the driverConf_t type where the driver configuration is stored

Returns:: ERR_NOERR if there are no problems; ERR_COM if it is not possible to read (any parameter) information from the driver. When this happens at least one of the parameters of the driverConf_t structure could be incomplete.

Implements MotorDriverInterface.

Definition at line 88 of file mcdc3006s.cpp.

int Mcdc3006s::get_cur_lim ( ) [virtual]

get the continuous current limit (CCL) in mA.

Returns:: returns the value of the continuous current limit (CCL) in mA.; ERR_COM if could not communicate with the driver (either write or read)

WARNING: Untested Function

Todo:: change the way I save the parameter. It has to be saved by parameter by reference. Return only must return Error control

Implements MotorDriverInterface.

Definition at line 228 of file mcdc3006s.cpp.

int Mcdc3006s::get_instant_current ( int * current ) [virtual]

asks for the instant velocity from sensor data of the driver.

Parameters:

current is where the instant current data from the driver will be stored. The units from the driver are [rpm]

Returns:: ERR_NOERR if no error (operation is successful); ERR_COM if there is an error communicating whit the driver.

Implements MotorDriverInterface.

Definition at line 391 of file mcdc3006s.cpp.

int Mcdc3006s::get_instant_pos ( long int * positon ) [virtual]

asks for the instant position from sensor data of the driver.

Parameters:

position is a pointer pointing to where the position sensor data from the driver will be stored. The units from the driver are in [pulses]

Returns:: ERR_NOERR if no error (operation is successful); ERR_COM if there is an error communicating whit the driver.

Implements MotorDriverInterface.

Definition at line 349 of file mcdc3006s.cpp.

int Mcdc3006s::get_instant_vel ( long int * velocity ) [virtual]

asks for the instant velocity from sensor data of the driver.

Parameters:

velocity is where the velocity sensor data from the driver will be stored. The units from the driver are [rpm]

Returns:: ERR_NOERR if no error (operation is successful); ERR_COM if there is an error communicating whit the driver.

Implements MotorDriverInterface.

Definition at line 370 of file mcdc3006s.cpp.

long int Mcdc3006s::get_max_acc ( ) [virtual]

returns the maximum acceleration allowed by the driver. To set this value see

See also:: SetDriverMaxAcc

Returns:: maxAcc Returns the maximum acceleration revolutions/sec2; ERR_COM if could not communicate with the driver (either write or read)

Todo:: change the way I save the parameter. It has to be saved by parameter by reference. Return only must return Error control

Implements MotorDriverInterface.

Definition at line 190 of file mcdc3006s.cpp.

long int Mcdc3006s::get_max_dec ( ) [virtual]

returns the maximum deceleration allowed by the driver. To set this value see

See also:: SetDriverMaxDec

Returns:: maxDec Returns the maximum deceleration revolutions/sec2; ERR_COM if could not communicate with the driver (either write or read)

Todo:: change the way I save the parameter. It has to be saved by parameter by reference. Return only must return Error control

Implements MotorDriverInterface.

Definition at line 209 of file mcdc3006s.cpp.

long int Mcdc3006s::get_max_pos ( ) [virtual]

returns the maximum position allowed by the driver. To set this value see

See also:: SetDriverMaxPos

Returns:: ERR_NOERR if there aren't any problems; ERR_COM if could not communicate with the driver (either write or read)

Todo:: change the way I save the parameter. It has to be saved by parameter by reference. Return only must return Error control

Implements MotorDriverInterface.

Definition at line 132 of file mcdc3006s.cpp.

long int Mcdc3006s::get_max_vel ( ) [virtual]

Returns the maximum speed allowed by the driver which is set with setDriverMaxVel() function.

Returns:: maxVel configured in the drive in r.p.m.; ERR_COM if could not communicate with the driver (either write or read)

Todo:: change the way I save the parameter. It has to be saved by parameter by reference. Return only must return Error control

Implements MotorDriverInterface.

Definition at line 171 of file mcdc3006s.cpp.

long int Mcdc3006s::get_min_pos ( ) [virtual]

This function reads from the driver min position from its flash memory.

Returns:: returns the value of the min position in pulses; ERR_COM if could not communicate with the driver (either write or read) Warning, it is possible to receive a min position which the same as ERR_COM. If this happens the function will wrongly understand that an error has occured

Todo:: change the way I save the parameter. It has to be saved by parameter by reference. Return only must

Returns:: Error control

Implements MotorDriverInterface.

Definition at line 150 of file mcdc3006s.cpp.

int Mcdc3006s::get_peak_cur_lim ( ) [virtual]

get the Peak Current Limit (PCL) in mA.

Returns:: returns the value of the peak current limit (PCL) in mA.; ERR_COM if could not communicate with the driver (either write or read)

WARNING: Untested Function

Todo:: change the way I save the parameter. It has to be saved by parameter by reference. Return only must return Error control

Implements MotorDriverInterface.

Definition at line 246 of file mcdc3006s.cpp.

int Mcdc3006s::get_sensor ( driverSensor_t * sensor ) [virtual]

asks for sensor data of the driver

Parameters:

sensor is the sensor structure where we want to store the sensor data from the driver.

Returns:: ERR_NOERR if no error (operation is successful); ERR_COM if there is an error communicating whit the driver. In this case some (of all) of the sensor parameters could not be up to date.

Implements MotorDriverInterface.

Definition at line 308 of file mcdc3006s.cpp.

int Mcdc3006s::get_status ( driverStatus_t * drvStatus ) [virtual]

Asks to the driver its current status.

Parameters:

drvStatus is a structure where the current driver status is stored. Each of the parameters of the drvStatus are set to 1 if true or 0 if false

Returns:: ERR_NOERR if the status could be returned; ERR_COM if it is not possible to check the driver status

Implements MotorDriverInterface.

Definition at line 264 of file mcdc3006s.cpp.

int Mcdc3006s::init	(	int	baudrate,
		char *	dev,
		char *	sem
	)		`[virtual]`

high level functions

Implements MotorDriverInterface.

Definition at line 43 of file mcdc3006s.cpp.

int Mcdc3006s::move_abs_pos ( long int pos ) [virtual]

Sends to the driver the order to move to an absolute position in pulses.

Parameters:

p	absolute position in pulses

Returns:: ERR_NOERR if no error sending the command to the driver; ERR_WRI if it isn't possible to communicate with the driver

Implements MotorDriverInterface.

Definition at line 619 of file mcdc3006s.cpp.

int Mcdc3006s::move_rel_pos ( long int pos ) [virtual]

Sends to the driver the order to move to a relative position in pulses.

Parameters:

p	relative position in pulses

Returns:: ERR_NOERR if no error sending the command to the driver; ERR_WRI if it isn't possible to communicate with the driver

Implements MotorDriverInterface.

Definition at line 642 of file mcdc3006s.cpp.

int Mcdc3006s::move_vel ( long int vel ) [virtual]

Sends to the driver the order to move at a determined speed (in rpm)

Parameters:

v	velocity in rpm (revolutions per minute)

Returns:: ERR_NOERR if no error sending the command to the driver; ERR_WRI if it isn't possible to communicate with the driver

Implements MotorDriverInterface.

Definition at line 665 of file mcdc3006s.cpp.

int Mcdc3006s::save_to_flash ( ) [virtual]

Save current configuration params to FLASH memory of the drive, so the nest time the drive is turned on it loads this configuration. WARNING!!! It should not be used more than 10,000 times because the FLASH memory could get damaged!!!

Returns:: ERR_COM if an error communicating with driver occurs; ERR_NOERR if the save is done correctly

The EEPSAV command always responds with the character string “EEPROM writing done” after successful saving of the current settings in the data Flash memory, or with “Flash defect”, if the save has failed.

Implements MotorDriverInterface.

Definition at line 681 of file mcdc3006s.cpp.

int Mcdc3006s::set_baudrate ( int baud ) [virtual]

tells to the driver at which baudrate we want to operate

Parameters:

baud	is the baudrate of the communication.

Returns:: ERR_NOERR if the configuration is successful; ERR_OUTOFRANGE if the parameter baud is not in the expected values; ERR_WRI if it is not possible to write to the driver the configuration

Implements MotorDriverInterface.

Definition at line 589 of file mcdc3006s.cpp.

int Mcdc3006s::set_config ( driverConf_t dc ) [virtual]

Function that configures the driver from a driverConf_t type.

Parameters:

dc	is where dc configuration is read in order to write it into the driver

Returns:: ERR_NOERR if success; ERR_CONF if any error occurs

Implements MotorDriverInterface.

Definition at line 412 of file mcdc3006s.cpp.

int Mcdc3006s::set_cur_lim ( int cl ) [virtual]

loads continuous current limit

Parameters:

cl	current limit in mA Range = [0 - 12000mA]

Returns:: ERR_NOERR if everything goes correct; ERR_WRI if could not write to the driver

Implements MotorDriverInterface.

Definition at line 555 of file mcdc3006s.cpp.

int Mcdc3006s::set_home_position ( long int home ) [virtual]

Sets the current position as the given value. NOTE: Use only during the calibration phase. This function sends to the driver the Home command. The home commands tells to the driver which is the current position. For example If we send home = 0 we are telling to the driver that the current position is 0 position (and it should used as a reference).

Parameters:

home	is the given position in pulses. This parameter specifies which is the current position.

Returns:: ERR_NOERR if everything works correctly; ERR_WRI in case of error when writing in the driver descriptor file

Implements MotorDriverInterface.

Definition at line 720 of file mcdc3006s.cpp.

int Mcdc3006s::set_max_acc ( long int maxAcc ) [virtual]

sets the maximum acceleration allowed by the driver in revolutions/s^2

Parameters:

maxAcc maximum acceleration in revolutions/s^2

Returns:: ERR_NOERR if everything goes correct; ERR_WRI if could not write to the driver

Implements MotorDriverInterface.

Definition at line 521 of file mcdc3006s.cpp.

int Mcdc3006s::set_max_dec ( long int maxDec ) [virtual]

sets the maximum deceleration allowed by the driver in revolutions/s^2

Parameters:

maxDec maximum deceleration in r/sec2

Returns:: ERR_NOERR if everything goes correct; ERR_WRI if could not write to the driver

Implements MotorDriverInterface.

Definition at line 538 of file mcdc3006s.cpp.

int Mcdc3006s::set_max_pos ( long int maxPos ) [virtual]

Sets the maximum absolute position in pulses.

Parameters:

maxPos in pulses

Returns:: ERR_NOERR if everything has gone correctly; ERR_OUTOFRANGE if maxPos is below or equal 0 (maxPos must be higher than 0).; ERR_WRI if could not write to the driver; ERR_POSLIMIT if it is not possible to activate the limits

Implements MotorDriverInterface.

Definition at line 445 of file mcdc3006s.cpp.

int Mcdc3006s::set_max_vel ( long int maxVel ) [virtual]

Sets the maximum speed allowed by the driver in rpm.

Parameters:

maxVel in r.p.m.

Returns:: ERR_NOERR if everything goes correct; ERR_WRI if could not write to the driver

Implements MotorDriverInterface.

Definition at line 504 of file mcdc3006s.cpp.

int Mcdc3006s::set_min_pos ( long int minPos ) [virtual]

Sets the minimum absolute position in pulses.

Parameters:

minPos is the minimum absolute position in pulses

Returns:: ERR_NOERR if everything has gone correctly; ERR_OUTOFRANGE if minPos is higher or equal than 0 (minPos must be lower than 0).; ERR_WRI if could not write to the driver; ERR_POSLIMIT if it is not possible to activate the limits

Implements MotorDriverInterface.

Definition at line 475 of file mcdc3006s.cpp.

int Mcdc3006s::set_peak_cur_lim ( int pcl ) [virtual]

loads peak current limit

Parameters:

pcl	current limit in mA Range = [0 - 12000mA]

Returns:: ERR_NOERR if everything goes correct; ERR_WRI if could not write to the driver

Implements MotorDriverInterface.

Definition at line 572 of file mcdc3006s.cpp.

Member Data Documentation

Rs232 Mcdc3006s::_comm [private]

Definition at line 352 of file mcdc3006s.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation