mcdc3006s_data.h File Reference

Data for motors. More...

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Classes
struct	driverConf
	Structure where the configuration of the driver is stored. More...
struct	driverMotorSensor
	Structure that contains the information of the sensors of the driver (Position, Velocity and Current) More...
struct	driverStatus
	Structure where the status of the driver is stored. More...
Defines
#define	ACTIVATE   1
#define	CALIBRATION_CURRENT_LIMIT   1500
#define	CALIBRATION_TIMEOUT   10
#define	CALIBRATION_VELOCITY   500
#define	CURRENT_LIMITING_MASK   16
#define	DEACTIVATE   0
#define	DRIVER_INPUT_4_MASK   2048
#define	ENABLED_MASK   8
#define	OVERTEMPERATURE_MASK   128
#define	OVERVOLTAGE_MASK   64
Typedefs
typedef struct driverConf	driverConf_t
	Structure where the configuration of the driver is stored.
typedef struct driverMotorSensor	driverSensor_t
	Structure that contains the information of the sensors of the driver (Position, Velocity and Current)
typedef struct driverStatus	driverStatus_t
	Structure where the status of the driver is stored.

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Detailed Description

Data for motors.

Author:

Raul Perula-Martinez <raul.perula@uc3m.es>

Date:

2015-03

Copyright:

Copyright (C) 2015 University Carlos III of Madrid. All rights reserved. LEUC3M v1.0, see LICENSE.txt

This program is free software: you can redistribute it and/or modify it under the terms of the Licencia Educativa UC3M as published by the University Carlos III of Madrid, either version 1.0, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY. See the Licencia Educativa UC3M version 1.0 or any later version for more details.

A copy of the Licencia Educativa UC3M is in the LICENSE file.

Definition in file mcdc3006s_data.h.

---

Define Documentation

#define ACTIVATE   1

Definition at line 36 of file mcdc3006s_data.h.

#define CALIBRATION_CURRENT_LIMIT   1500

Definition at line 34 of file mcdc3006s_data.h.

#define CALIBRATION_TIMEOUT   10

Todo:

This two defines must be moved to a primitive level

Definition at line 32 of file mcdc3006s_data.h.

#define CALIBRATION_VELOCITY   500

Definition at line 33 of file mcdc3006s_data.h.

#define CURRENT_LIMITING_MASK   16

Mask used to check if the current limiting is active. Masks the bit 4 of the OST command response

Definition at line 50 of file mcdc3006s_data.h.

#define DEACTIVATE   0

Definition at line 37 of file mcdc3006s_data.h.

#define DRIVER_INPUT_4_MASK   2048

Mask used to check if the input 4 of the driver is active. I have this input connected to the limit sensor. Masks the bit 11 of the OST command response

Definition at line 56 of file mcdc3006s_data.h.

#define ENABLED_MASK   8

Mask used to check if the driver is enabled or not. Masks the bit 3 of the GST command response

Definition at line 48 of file mcdc3006s_data.h.

#define OVERTEMPERATURE_MASK   128

Mask used to check if the overtemperature is active. Masks the bit 7 of the OST command response

Definition at line 54 of file mcdc3006s_data.h.

#define OVERVOLTAGE_MASK   64

Mask used to check if the overvoltage bit is active. Masks the bit 6 of the OST command response

Definition at line 52 of file mcdc3006s_data.h.

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Typedef Documentation

typedef struct driverConf driverConf_t

Structure where the configuration of the driver is stored.

typedef struct driverMotorSensor driverSensor_t

Structure that contains the information of the sensors of the driver (Position, Velocity and Current)

typedef struct driverStatus driverStatus_t

Structure where the status of the driver is stored.