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isp_bldc_motor.txt
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isp_bldc_motor.txt
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=================================================================================================
File....... isp_bldc_motor.spin2
Purpose.... Object providing control interface for a single BLDC motor
Authors.... Stephen M Moraco
-- Copyright (c) 2023 Iron Sheep Productions, LLC
-- see below for terms of use
E-mail..... stephen@ironsheep.biz
Started.... Feb 2022
Updated.... 16 Sep 2023
=================================================================================================
Object "isp_bldc_motor" Interface:
PUB null()
PUB start(eMotorBasePin, eMotorVoltage, eDetectionMode) : ok
PUB startEx(eMotorBasePin, eMotorVoltage, eDetectionMode, sync) : ok
PUB stop()
PUB startSenseCog() : ok
PUB setAcceleration(rate)
PUB setRampingValues(minRamp, maxRamp, incRamp, decrRamp)
PUB getRampingValues() : minRamp, maxRamp, incRamp, decrRamp
PUB setMaxSpeed(speed)
PUB setMaxSpeedForDistance(speed)
PUB calibrate()
PUB holdAtStop(bEnable)
PUB resetTracking()
PUB moveShaftToAngle(desiredAngle)
PUB driveForDistance(distance, distanceUnits)
PUB driveAtPower(power)
PUB driveAtPowerEx(power, sync)
PUB stopAfterRotation(nRotationCount, eRotationUnits)
PUB stopAfterDistance(nDistance, eDistanceUnits)
PUB stopAfterTime(nTime, eTimeUnits)
PUB stopMotor()
PUB emergencyCutoff()
PUB clearEmergency()
PUB forwardIsReverse()
PUB getDistance(eDistanceUnits) : nDistanceInUnits
PUB getRotationCount(eRotationUnits) : rotationCount
PUB getPower() : nPower
PUB getCurrent() : fAmps, fWatts
PUB getMaxSpeed() : nSpeed
PUB getMaxSpeedForDistance() : nSpeed4dist
PUB getStatus() : eStatus
PUB getDriverState() : eDrvrState
PUB getRawHallTicks() : nPos
PUB boardIdString() : pZStr
PUB getBoardType() : eBoardRev
PUB isReady() : bState
PUB isStopped() : bState
PUB isFaulted() : bState
PUB isStarting() : bState
PUB isTurning() : bState
PUB isEmergency() : bState
PUB isFaultSignal() : bState
PUB clearFaultSignal()
PUB validBasePinForChoice(userBasePin) : legalBasePin
PUB validVoltageForChoice(userVoltage) : legalVoltage
PUB validMotorForChoice(userMotor) : legalMotor
PUB validDetectModeForChoice(userDetMode) : legalMode
PUB hallTicInfoForMotor() : degreesPerTic, ticsPerRotation
PUB SyncStatus()
__________
PUB null()
This is not a top-level object
____________________________________________________________
PUB start(eMotorBasePin, eMotorVoltage, eDetectionMode) : ok
Specify motor control board connect location for this motor and start the driver
____________________________________________________________________
PUB startEx(eMotorBasePin, eMotorVoltage, eDetectionMode, sync) : ok
Specify motor control board connect location for this motor and start the driver, specify sync setting
__________
PUB stop()
Stop cogs and release pins assigned to this motor
________________________
PUB startSenseCog() : ok
Start the single motor sense task (tracks position of motor, distance traveled, etc.)
_________________________
PUB setAcceleration(rate)
Limit Acceleration to {rate} where {rate} is [??? - ???] mm/s squared (default is ??? mm/s squared)
_________________________________________________________
PUB setRampingValues(minRamp, maxRamp, incRamp, decrRamp)
Change the ramping parameters
____________________________________________________________
PUB getRampingValues() : minRamp, maxRamp, incRamp, decrRamp
Return the ramping parameters
______________________
PUB setMaxSpeed(speed)
Limit top-speed to {speed} where {speed} is [1 to 100] (default is 75)
_________________________________
PUB setMaxSpeedForDistance(speed)
Limit top-speed of driveDistance() operations to {speed} where {speed} is [1 to 100] (default is 75)
_______________
PUB calibrate()
NOT WORKING: (we may or may not need this?)
have motor drivers determine fixed-offset constants
_______________________
PUB holdAtStop(bEnable)
Informs the motor control cog to actively hold position (bEnable=true) or coast (bEnable=false) at end of motion
___________________
PUB resetTracking()
Resets the position tracking values returned by getDistance() and getRotations()
_____________________________________________
PUB driveForDistance(distance, distanceUnits)
Control the forward direction of this motor using the {distance} and {distanceUnits} inputs.
Turn the motor on then turn it off again after it reaches the specified {distance} in {distanceUnits} [DDU_IN, DDU_CM, DDU_FT or DDU_M].
AFFECTED BY: setAcceleration(), setMaxSpeedForDistance(), holdAtStop()
_______________________
PUB driveAtPower(power)
Control the speed and direction of this motor using the {power, [(-100) to 100]} input.
Turns the motor on at {power}.
AFFECTED BY: setAcceleration(), setMaxSpeed(), holdAtStop()
_______________________________
PUB driveAtPowerEx(power, sync)
Control the speed and direction of this motor using the {power, [(-100) to 100]} input. (allow sync setting)
Turns the motor on at {power}.
AFFECTED BY: setAcceleration(), setMaxSpeed(), holdAtStop()
_____________________________________________________
PUB stopAfterRotation(nRotationCount, eRotationUnits)
Stops the motor after it reaches {rotationCount} of {rotationUnits} [DRU_HALL_TICKS, DRU_DEGREES, or DRU_ROTATIONS].
USE WITH: driveAtPower()
Will ABORT if {rotationCount} < 1
________________________________________________
PUB stopAfterDistance(nDistance, eDistanceUnits)
Stops the motor after it reaches {distance} specified in {distanceUnits} [DDU_MM, DDU_CM, DDU_IN, DDU_FT, DDU_M].
USE WITH: driveAtPower()
Will ABORT if {distance} < 1
____________________________________
PUB stopAfterTime(nTime, eTimeUnits)
Stops the motor, after {time} specified in {timeUnits} [DTU_MILLISEC or DTU_SEC] has elapsed.
USE WITH: driveAtPower()
Will ABORT if {time} < 1
_______________
PUB stopMotor()
Stops the motor, killing any motion that was still in progress
AFFECTED BY:holdAtStop()
_____________________
PUB emergencyCutoff()
EMERGENCY-Stop - Immediately stop motor, killing any motion that was still in progress
____________________
PUB clearEmergency()
Clear EMERGENCY-Stop - remove the need to stop!
______________________
PUB forwardIsReverse()
Call when we have two motors and one of them needs to be reversed
__________________________________________________
PUB getDistance(eDistanceUnits) : nDistanceInUnits
Returns the distance in {distanceUnits} [DDU_MM, DDU_CM, DDU_IN, DDU_FT, DDU_M, DDU_KM, DDU_MI] travelled by this motor since last reset
____________________________________________________
PUB getRotationCount(eRotationUnits) : rotationCount
Returns accumulated {rotationCount} in {rotationUnits} [DRU_DEGREES, DRU_ROTATIONS, or DRU_HALL_TICKS], since last reset, for this motor.
_______________________
PUB getPower() : nPower
Returns the last specified power value [-100 thru +100] for motor (will be zero if the motor is stopped).
________________________________
PUB getCurrent() : fAmps, fWatts
Returns the latest current sense values
__________________________
PUB getMaxSpeed() : nSpeed
Returns the last specified {maxSpeed}
__________________________________________
PUB getMaxSpeedForDistance() : nSpeed4dist
Returns the last specified {maxSpeedForDistance}
_________________________
PUB getStatus() : eStatus
Returns status of motor drive state for this motor: enumerated constant: DS_Unknown, DS_MOVING, DS_HOLDING, or DS_OFF
_________________________________
PUB getDriverState() : eDrvrState
Return Enum [DCS_*] value representing state of driver
____________________________
PUB getRawHallTicks() : nPos
Return the raw driver-maintained tick count
___________________________
PUB boardIdString() : pZStr
Return board ID string for this board revision
______________________________
PUB getBoardType() : eBoardRev
ID Revision of attached BLDC driver board
______________________
PUB isReady() : bState
Return T/F where T means the motor cog is running
________________________
PUB isStopped() : bState
Return T/F where T means the motor is stopped
________________________
PUB isFaulted() : bState
Return T/F where T means the motor has faulted
_________________________
PUB isStarting() : bState
Return T/F where T means the motor is spinning up
________________________
PUB isTurning() : bState
Return T/F where T means the motor is rotating
__________________________
PUB isEmergency() : bState
Return T/F where T means the motor is emergency-stopped
____________________________
PUB isFaultSignal() : bState
Return T/F where T means the motor has faulted
______________________
PUB clearFaultSignal()
Reset top-level fault indicator
_____________________________________________________
PUB validBasePinForChoice(userBasePin) : legalBasePin
VALIDATE users' base-pin choice returns legalBasePin or INVALID_PIN_BASE
_____________________________________________________
PUB validVoltageForChoice(userVoltage) : legalVoltage
VALIDATE users' voltage choice returns legalVoltage or INVALID_VOLTAGE
_______________________________________________
PUB validMotorForChoice(userMotor) : legalMotor
VALIDATE users' motor choice returns legalMotor or INVALID_MOTOR
_____________________________________________________
PUB validDetectModeForChoice(userDetMode) : legalMode
VALIDATE users' detection mode choice returns legalMode or INVALID_DET_MODE
__________________________________________________________
PUB hallTicInfoForMotor() : degreesPerTic, ticsPerRotation
Return numbers for user selected motor (for use by two-wheel-steering object!)
________________
PUB SyncStatus()
Wait until both motors are in sync (when configured for synchronization)
-------------------------------------------------------------------------------------------------
MIT License
Copyright (c) 2023 Iron Sheep Productions, LLC
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
=================================================================================================