SmartDrive Class Reference

API for the SmartDrive advanced motor controller from OpenElectronis. More...

Detailed Description

• ID: smartdrive
• Name: SmartDrive Advanced Motor Controller
• Other Names: smartdrive
• Category: motor
• Manufacturer: openelectrons
• Connection: i2c

SmartDrive is a multiplexer to control high current DC motors

This module has been tested on the SmartDrive.

    // Instantiate a SmartDrive connected to /dev/i2c-0 bus, using DefaultAddress
    upm::SmartDrive drive(0);

    std::cout << "Battery Voltage before motor run : " << drive.GetBattVoltage() << std::endl;
    // Set motor M1 to run for 120 seconds, with speed of 15RPM, waith for it to
    // finish and then Brake It
    drive.Run_Seconds(
    SmartDrive_Motor_ID_1, SmartDrive_Dir_Forward, 15, 120, true, SmartDrive_Action_Brake);
    std::cout << "Battery Voltage after motor run : " << drive.GetBattVoltage() << std::endl;
    // Rotate motor M2 2270 degrees, in reverse sense, with speed of 10RPM, return
    // immediately from function call
    drive.Run_Degrees(
    SmartDrive_Motor_ID_2, SmartDrive_Dir_Reverse, 10, 2270, false, SmartDrive_Action_Float);
    // While motor is running, Display its status
    drive.PrintMotorStatus(SmartDrive_Motor_ID_2);
    upm_delay(2); // Sleep for 2 seconds
    // Stop motor M2 and then finish program
    drive.StopMotor(SmartDrive_Motor_ID_2, SmartDrive_Action_BrakeHold);

Public Member Functions
	SmartDrive (int i2c_bus, int address=SmartDrive_DefaultAddress)
void	command (uint8_t cmd)
float	GetBattVoltage ()
uint32_t	ReadTachometerPosition (int motor_id)
void	Run_Unlimited (int motor_id, int direction, uint8_t speed)
void	StopMotor (int motor_id, int next_action)
void	Run_Seconds (int motor_id, int direction, uint8_t speed, uint8_t duration, bool wait_for_completion, int next_action)
void	WaitUntilTimeDone (int motor_id)
bool	IsTimeDone (int motor_id)
void	Run_Degrees (int motor_id, int direction, uint8_t speed, uint32_t degrees, bool wait_for_completion, int next_action)
void	Run_Rotations (int motor_id, int direction, uint8_t speed, uint32_t rotations, bool wait_for_completion, int next_action)
void	Run_Tacho (int motor_id, uint8_t speed, uint32_t tacho_count, bool wait_for_completion, int next_action)
void	WaitUntilTachoDone (int motor_id)
bool	IsTachoDone (int motor_id)
void	SetPerformanceParameters (uint16_t Kp_tacho, uint16_t Ki_tacho, uint16_t Kd_tacho, uint16_t Kp_speed, uint16_t Ki_speed, uint16_t Kd_speed, uint8_t passcount, uint8_t tolerance)
void	ReadPerformanceParameters ()
uint8_t	GetMotorStatus (int motor_id)
void	PrintMotorStatus (int motor_id)

Constructor & Destructor Documentation

SmartDrive	(	int	i2c_bus,
		int	address = SmartDrive_DefaultAddress
	)

Initialize the class with the i2c address of your SmartDrive

Parameters

i2c_bus	I2C bus to use.
address	Address of your SmartDrive.

Member Function Documentation

void command

(

uint8_t

cmd

)

Writes a specified command on the command register of the SmartDrive

Parameters

cmd	The command you wish the SmartDrive to execute.

float GetBattVoltage

(

)

Reads the battery voltage. Multiplier constant not yet verified

uint32_t ReadTachometerPosition

(

int

motor_id

)

Reads the tacheometer position of the specified motor

Parameters

motor_id

Number of the motor you wish to read.

void Run_Unlimited	(	int	motor_id,
		int	direction,
		uint8_t	speed
	)

Turns the specified motor(s) forever

Parameters

motor_id	Number of the motor(s) you wish to turn.
direction	The direction you wish to turn the motor(s).
speed	The speed at which you wish to turn the motor(s).

void StopMotor	(	int	motor_id,
		int	next_action
	)

Stops the specified motor(s)

Parameters

motor_id	Number of the motor(s) you wish to turn.
next_action	How you wish to stop the motor(s).

void Run_Seconds	(	int	motor_id,
		int	direction,
		uint8_t	speed,
		uint8_t	duration,
		bool	wait_for_completion,
		int	next_action
	)

Turns the specified motor(s) for a given amount of seconds

Parameters

motor_id	Number of the motor(s) you wish to turn.
direction	The direction you wish to turn the motor(s).
speed	The speed at which you wish to turn the motor(s).
duration	The time in seconds you wish to turn the motor(s).
wait_for_completion	Tells the program when to handle the next line of code.
next_action	How you wish to stop the motor(s).

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void WaitUntilTimeDone

(

int

motor_id

)

Waits until the specified time for the motor(s) to run is completed

Parameters

motor_id

Number of the motor(s) to wait for.

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bool IsTimeDone

(

int

motor_id

)

Checks to ensure the specified time for the motor(s) to run is completed.

Parameters

motor_id

Number of the motor(s) to check.

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void Run_Degrees	(	int	motor_id,
		int	direction,
		uint8_t	speed,
		uint32_t	degrees,
		bool	wait_for_completion,
		int	next_action
	)

Turns the specified motor(s) for given relative tacheometer count

Parameters

motor_id	Number of the motor(s) you wish to turn.
direction	The direction you wish to turn the motor(s).
speed	The speed at which you wish to turn the motor(s).
degrees	The relative tacheometer count you wish to turn the motor(s).
wait_for_completion	Tells the program when to handle the next line of code.
next_action	How you wish to stop the motor(s).

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void Run_Rotations	(	int	motor_id,
		int	direction,
		uint8_t	speed,
		uint32_t	rotations,
		bool	wait_for_completion,
		int	next_action
	)

Turns the specified motor(s) for given relative tacheometer count

Parameters

motor_id	Number of the motor(s) you wish to turn.
direction	The direction you wish to turn the motor(s).
speed	The speed at which you wish to turn the motor(s).
rotations	The relative amount of rotations you wish to turn the motor(s).
wait_for_completion	Tells the program when to handle the next line of code.
next_action	How you wish to stop the motor(s).

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void Run_Tacho	(	int	motor_id,
		uint8_t	speed,
		uint32_t	tacho_count,
		bool	wait_for_completion,
		int	next_action
	)

Turns the specified motor(s) for given absolute tacheometer count

Parameters

motor_id	Number of the motor(s) you wish to turn.
speed	The speed at which you wish to turn the motor(s).
tacho_count	The absolute tacheometer count you wish to turn the motor(s).
wait_for_completion	Tells the program when to handle the next line of code.
next_action	How you wish to stop the motor(s).

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void WaitUntilTachoDone

(

int

motor_id

)

Waits until the specified tacheomter count for the motor(s) to run is reached.

Parameters

motor_id

Number of the motor(s) to wait for.

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bool IsTachoDone

(

int

motor_id

)

Checks to ensure the specified tacheomter count for the motor(s) to run is reached.

Parameters

motor_id

Number of the motor(s) to check.

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void SetPerformanceParameters	(	uint16_t	Kp_tacho,
		uint16_t	Ki_tacho,
		uint16_t	Kd_tacho,
		uint16_t	Kp_speed,
		uint16_t	Ki_speed,
		uint16_t	Kd_speed,
		uint8_t	passcount,
		uint8_t	tolerance
	)

Writes user specified values to the PID control registers

Parameters

Kp_tacho	Proportional-gain of the tacheometer position of the motor.
Ki_tacho	Integral-gain of the tacheometer position of the motor.
Kd_tacho	Derivative-gain of the tacheometer position of the motor.
Kp_speed	Proportional-gain of the speed of the motor.
Ki_speed	Integral-gain of the speed of the motor.
Kd_speed	Derivative-gain of the speed of the motor.

void ReadPerformanceParameters

(

)

Reads the values of the PID control registers

uint8_t GetMotorStatus

(

int

motor_id

)

Read the status of a motor, and return it in a uint8_t param motor_id Number fo the motor to check

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void PrintMotorStatus

(

int

motor_id

)

Print the detailed status of the motor

Parameters

motor_id

Number fo the motor to check

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

• src/smartdrive/smartdrive.hpp
• src/smartdrive/smartdrive.cxx