#include <mcdc3006s.h>

Inheritance diagram for Mcdc3006s:

Public Member Functions
int	activateLimits (int action)
	Activates/Deactivates the driver Limits. If the limits aren't activated the driver will NOT respect the Maximum or Minimum positions.
int	calibrateDriver (long int limit, int current_limit, int calibration_speed, int time_out)
	starts the calibration sequence of the drive
int	disableDriver ()
	Disables the driver.
int	enableDriver ()
	Enables the driver.
int	getDriverConf (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	getDriverCurLim ()
	get the continous current limit (CCL) in mA.
int	getDriverInstantCurrent (int *current)
	asks for the instant velocity from sensor data of the driver.
int	getDriverInstantPos (long int *positon)
	asks for the instant position from sensor data of the driver.
int	getDriverInstantVel (long int *velocity)
	asks for the instant velocity from sensor data of the driver.
long int	getDriverMaxAcc ()
	returns the maximum acceleration allowed by the driver. To set this value see
long int	getDriverMaxDec ()
	returns the maximum decceleration allowed by the driver. To set this value see
long int	getDriverMaxPos ()
	returns the maximum position allowed by the driver. To set this value see
long int	getDriverMaxVel ()
	Returns the maximum speed allowed by the driver which is set with setDriverMaxVel() function.
long int	getDriverMinPos ()
	This function reads from the driver min position from its flash memory.
int	getDriverPCurLim ()
	get the Peak Current Limit (PCL) in mA.
int	getDriverSensor (driverSensor_t *sensor)
	asks for sensor data of the driver
int	getDriverStatus (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	moveDriverAbsPos (long int pos)
	Sends to the driver the order to move to an absolute position in pulses.
int	moveDriverRelPos (long int pos)
	Sends to the driver the order to move to a relative position in pulses.
int	moveDriverVel (long int vel)
	Sends to the driver the order to move at a determined speed (in rpm)
int	saveToFlash ()
	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!!!
int	setDriverBaud (int baud)
	tells to the driver at which baudrate we want to operate
int	setDriverConf (driverConf_t dc)
	Function that configures the driver from a driverConf_t type.
int	setDriverCurLim (int cl)
	loads continous current limit
int	setDriverHomePosition (long int home)
	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).
int	setDriverMaxAcc (long int maxAcc)
	sets the maximum acceleration allowed by the driver in revolutions/s^2
int	setDriverMaxDec (long int maxDec)
	sets the maximum deceleration allowed by the driver in revolutions/s^2
int	setDriverMaxPos (long int maxPos)
	Sets the maximum absolute position in pulses.
int	setDriverMaxVel (long int maxVel)
	Sets the maximum speed allowed by the driver in rpm.
int	setDriverMinPos (long int minPos)
	Sets the minimum absolute position in pulses.
int	setDriverPCurLim (int pcl)
	loads peak current limit
	~Mcdc3006s ()
	Destructor.
Private Attributes
Rs232	_comm

Detailed Description

Definition at line 34 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::activateLimits ( 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 disºable 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

Implements MotorDriverInterface.

Definition at line 172 of file mcdc3006s.cpp.

int Mcdc3006s::calibrateDriver	(	long int	limit,
		int	current_limit,
		int	calibration_speed,
		int	time_out
	)		`[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

Error control here

Implements MotorDriverInterface.

Definition at line 677 of file mcdc3006s.cpp.

int Mcdc3006s::disableDriver ( ) [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 71 of file mcdc3006s.cpp.

int Mcdc3006s::enableDriver ( ) [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 57 of file mcdc3006s.cpp.

int Mcdc3006s::getDriverConf ( 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 85 of file mcdc3006s.cpp.

int Mcdc3006s::getDriverCurLim ( ) [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

Implements MotorDriverInterface.

Definition at line 283 of file mcdc3006s.cpp.

int Mcdc3006s::getDriverInstantCurrent ( 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 succesful); ERR_COM if there is an error communicating whit the driver.

Implements MotorDriverInterface.

Definition at line 427 of file mcdc3006s.cpp.

int Mcdc3006s::getDriverInstantPos ( 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 succesful); ERR_COM if there is an error communicating whit the driver.

Implements MotorDriverInterface.

Definition at line 389 of file mcdc3006s.cpp.

int Mcdc3006s::getDriverInstantVel ( 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 succesful); ERR_COM if there is an error communicating whit the driver.

Implements MotorDriverInterface.

Definition at line 408 of file mcdc3006s.cpp.

long int Mcdc3006s::getDriverMaxAcc ( ) [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 247 of file mcdc3006s.cpp.

long int Mcdc3006s::getDriverMaxDec ( ) [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

Implements MotorDriverInterface.

Definition at line 265 of file mcdc3006s.cpp.

long int Mcdc3006s::getDriverMaxPos ( ) [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 192 of file mcdc3006s.cpp.

long int Mcdc3006s::getDriverMaxVel ( ) [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

Implements MotorDriverInterface.

Definition at line 229 of file mcdc3006s.cpp.

long int Mcdc3006s::getDriverMinPos ( ) [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

Implements MotorDriverInterface.

Definition at line 209 of file mcdc3006s.cpp.

int Mcdc3006s::getDriverPCurLim ( ) [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 300 of file mcdc3006s.cpp.

int Mcdc3006s::getDriverSensor ( 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 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.

Implements MotorDriverInterface.

Definition at line 351 of file mcdc3006s.cpp.

int Mcdc3006s::getDriverStatus ( 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 317 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::moveDriverAbsPos ( 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 605 of file mcdc3006s.cpp.

int Mcdc3006s::moveDriverRelPos ( 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 626 of file mcdc3006s.cpp.

int Mcdc3006s::moveDriverVel ( 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 647 of file mcdc3006s.cpp.

int Mcdc3006s::saveToFlash ( ) [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.

Implements MotorDriverInterface.

Definition at line 156 of file mcdc3006s.cpp.

int Mcdc3006s::setDriverBaud ( 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 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

Implements MotorDriverInterface.

Definition at line 577 of file mcdc3006s.cpp.

int Mcdc3006s::setDriverConf ( 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 128 of file mcdc3006s.cpp.

int Mcdc3006s::setDriverCurLim ( int cl ) [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

Implements MotorDriverInterface.

Definition at line 545 of file mcdc3006s.cpp.

int Mcdc3006s::setDriverHomePosition ( long int home ) [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

Implements MotorDriverInterface.

Definition at line 662 of file mcdc3006s.cpp.

int Mcdc3006s::setDriverMaxAcc ( 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 513 of file mcdc3006s.cpp.

int Mcdc3006s::setDriverMaxDec ( 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 529 of file mcdc3006s.cpp.

int Mcdc3006s::setDriverMaxPos ( 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 446 of file mcdc3006s.cpp.

int Mcdc3006s::setDriverMaxVel ( 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 497 of file mcdc3006s.cpp.

int Mcdc3006s::setDriverMinPos ( 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 471 of file mcdc3006s.cpp.

int Mcdc3006s::setDriverPCurLim ( 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 561 of file mcdc3006s.cpp.

Member Data Documentation

Rs232 Mcdc3006s::_comm [private]

Definition at line 368 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