#include <motor_driver_interface.h>

Inheritance diagram for MotorDriverInterface:

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

Detailed Description

Definition at line 29 of file motor_driver_interface.h.

Constructor & Destructor Documentation

MotorDriverInterface::MotorDriverInterface ( ) [inline]

Constructor.

Definition at line 34 of file motor_driver_interface.h.

virtual MotorDriverInterface::~MotorDriverInterface ( ) [inline, virtual]

Abstract destructor.

Definition at line 41 of file motor_driver_interface.h.

Member Function Documentation

virtual int MotorDriverInterface::activate_limits ( int action ) [pure 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 de 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::calibrate ( int limit ) [pure virtual]

starts the calibration sequence of the drive

Parameters:

limit	sensor position in pulses measured from the desired 0 position
currentLimit	max current the motor is not allowed to exceed (in mA) This limit is directly related to torque of the motor.
calibrationSpeed	The speed of the motor during the calibration
timeOut	maximum time (in milli seconds) to perform the calibration. If this time is exceeded the function will return an error.

Returns:: ERR_NOERR If the calibration is done successfully; ERR_CURLIM if the current limit is reached during the calibration. I.E. an obstacle is blocking the motor.; ERR_TIMEOUT if the calibration process lasts more than the timeOut value; ERR_NOHOME if it is not possible to establish the home position

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::disable_driver ( ) [pure virtual]

Disables the driver.

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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::enable_driver ( ) [pure virtual]

Enables the driver.

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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::get_config ( driverConf_t * dc ) [pure 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.

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::get_cur_lim ( ) [pure virtual]

get the continous current limit (CCL) in mA.

Returns:: returns the value of the continous 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::get_instant_current ( int * current ) [pure 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 succesful); ERR_COM if there is an error communicating whit the driver.

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::get_instant_pos ( long int * positon ) [pure 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 succesful); ERR_COM if there is an error communicating whit the driver.

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::get_instant_vel ( long int * velocity ) [pure 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 succesful); ERR_COM if there is an error communicating whit the driver.

Implemented in Mcdc3006s.

virtual long int MotorDriverInterface::get_max_acc ( ) [pure 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

Implemented in Mcdc3006s.

virtual long int MotorDriverInterface::get_max_dec ( ) [pure virtual]

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

See also:: SetDriverMaxDec

Returns:: maxDec Returns the maximum decceleration 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

Implemented in Mcdc3006s.

virtual long int MotorDriverInterface::get_max_pos ( ) [pure 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

Implemented in Mcdc3006s.

virtual long int MotorDriverInterface::get_max_vel ( ) [pure virtual]

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

Returns:: maxVel configurated 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

Implemented in Mcdc3006s.

virtual long int MotorDriverInterface::get_min_pos ( ) [pure 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 recevie a min pos 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 return Error control

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::get_peak_cur_lim ( ) [pure 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::get_sensor ( driverSensor_t * sensor ) [pure 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 succesful); 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.

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::get_status ( driverStatus_t * drvStatus ) [pure 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

Implemented in Mcdc3006s.

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

high level functions

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::move_abs_pos ( long int pos ) [pure 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::move_rel_pos ( long int pos ) [pure 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::move_vel ( long int vel ) [pure 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::save_to_flash ( ) [pure virtual]

Save current configuartion params to FLASH memory of the drive, so the nest time the drive is turned on it loads thas 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.

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::set_baudrate ( int baud ) [pure 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 succesful; 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::set_config ( driverConf_t dc ) [pure 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::set_cur_lim ( int cl ) [pure virtual]

loads continous 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::set_home_position ( long int home ) [pure virtual]

Sets the current positon 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::set_max_acc ( long int maxAcc ) [pure 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::set_max_dec ( long int maxDec ) [pure 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::set_max_pos ( long int maxPos ) [pure 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::set_max_vel ( long int maxVel ) [pure 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::set_min_pos ( long int minPos ) [pure 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

Implemented in Mcdc3006s.

virtual int MotorDriverInterface::set_peak_cur_lim ( int pcl ) [pure 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

Implemented in Mcdc3006s.

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

motor_driver_interface.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation