Driver for Me Encoder New module. More...

#include <src/MeEncoderNew.h>

Public Member Functions
	MeEncoderNew (uint8_t addr, uint8_t slot)

	MeEncoderNew (uint8_t slot)

	MeEncoderNew (void)

void	begin (void)

void	setAddr (uint8_t i2cAddr, uint8_t slot)

void	reset (void)

void	move (long angle, float speed=220, float lock_state=1)

void	moveTo (long angle, float speed=220, float lock_state=1)

void	runTurns (long turns, float speed=220, float lock_state=1)

void	runSpeed (float speed, float lock_state=1)

float	getCurrentSpeed (void)

void	setCurrentPosition (long pulse_counter)

long	getCurrentPosition (void)

void	setSpeedPID (float p, float i, float d)

void	setPosPID (float p, float i, float d)

void	getSpeedPID (float p, float i, float *d)

void	getPosPID (float p, float i, float *d)

float	getRatio (void)

void	setRatio (float r)

int	getPulse (void)

void	setPulse (int p)

void	setDevid (uint8_t devid)

void	setMode (uint8_t mode)

void	setPWM (int pwm)

void	runSpeedAndTime (float speed, float time, float lock_state=1)

boolean	isTarPosReached (void)

void	getFirmwareVersion (char *buffer)

Detailed Description

Driver for Me Encoder New module.

Class: MeEncoderNew

Description: Declaration of Class MeEncoderNew

Copyright (C), 2012-2016, MakeBlock

Constructor & Destructor Documentation

◆ MeEncoderNew() [1/3]

MeEncoderNew::MeEncoderNew	(	uint8_t	addr,
		uint8_t	slot
	)

Alternate Constructor which can call your own function to map the Encoder Motor New to arduino port, you can set any slot for the Encoder Motor New device.

Parameters

[in]	port	- RJ25 port from PORT_1 to PORT_10
[in]	slot	- SLOT1 or SLOT2

◆ MeEncoderNew() [2/3]

MeEncoderNew::MeEncoderNew ( uint8_t slot )

Alternate Constructor which can call your own function to map the Encoder Motor New to arduino port, you can set any slot for the Encoder Motor New device.

Parameters

[in] slot - SLOT1 or SLOT2

◆ MeEncoderNew() [3/3]

MeEncoderNew::MeEncoderNew ( void )

Alternate Constructor which can call your own function to map the Encoder Motor New to arduino port, you should initialized slot and slaveAddress here for the Encoder Motor New device.

Parameters

[in] None

Member Function Documentation

◆ begin()

void MeEncoderNew::begin ( void )

Function: begin

Description: Initialize Encoder Motor New.

Parameters

[in] None

Output: None

Return: None

Others: None

◆ getCurrentPosition()

long MeEncoderNew::getCurrentPosition ( void )

Function: getCurrentPosition

Description: The current position of Motor.

Parameters

[in] None

Output: None

Return: Motor encoder pulse count value.

Others: None

◆ getCurrentSpeed()

float MeEncoderNew::getCurrentSpeed ( void )

Function: getCurrentSpeed

Description: The current speed of Motor's movement.

Parameters

[in] None

Output: None

Return: The speed of encoder motor(The unit is rpm)

Others: None

◆ getFirmwareVersion()

void MeEncoderNew::getFirmwareVersion ( char * buffer )

Function: getFirmwareVersion

Description: Get Firmware Version, Only support EncodeDriver-V2.1.0 module firmware

Parameters

[in] None

Output: buffer: for storage version, length greater than 8

Returns: None

Others

◆ getPosPID()

void MeEncoderNew::getPosPID	(	float *	p,
		float *	i,
		float *	d
	)

Function: getPosPID

Description: Get PID from Motor.

Parameters

[in]	p	- P means Proportion.
[in]	i	- I means Integration.
[in]	d	- D means Differentiation.

Output: None

Return: None

Others: None

◆ getPulse()

int MeEncoderNew::getPulse ( void )

Function: getPulse

Description: Get the pulse of Motor.

Parameters

[in] None

Output: None

Return: Return the pulse of Motor.

Others: None

◆ getRatio()

float MeEncoderNew::getRatio ( void )

Function: getRatio

Description: Get the ratio of Motor.

Parameters

[in] None

Output: None

Return: Return the ratio of Motor.

Others: None

◆ getSpeedPID()

void MeEncoderNew::getSpeedPID	(	float *	p,
		float *	i,
		float *	d
	)

Function: getSpeedPID

Description: Get Speed PID from Motor.

Parameters

[in]	p	- P means Proportion.
[in]	i	- I means Integration.
[in]	d	- D means Differentiation.

Output: None

Return: None

Others: None

Function: getSpeedPID

Description: Get PID from Motor.

Parameters

[in]	p	- P means Proportion.
[in]	i	- I means Integration.
[in]	d	- D means Differentiation.

Output: None

Return: None

Others: None

◆ isTarPosReached()

boolean MeEncoderNew::isTarPosReached ( void )

Function: isTarPosReached

Description: Check whether the target position has been reached

Parameters

[in] None

Output: None

Return: true - The target position reaches false - Does not reach the target position

Others: None

◆ move()

void MeEncoderNew::move	(	long	angle,
		float	speed = `220`,
		float	lock_state = `1`
	)

Function: move

Description: Motor move.

Parameters

[in]	angle	- The angle move of Motor New.
[in]	speed	- The speed move of Motor New.
[in]	lock_state	- The lock state of Motor.

Output: None

Return: None

Others: None

◆ moveTo()

void MeEncoderNew::moveTo	(	long	angle,
		float	speed = `220`,
		float	lock_state = `1`
	)

Function: moveTo

Description: Motor New move to the aim.

Parameters

[in]	angle	- The angle move of Motor New.
[in]	speed	- The speed move of Motor New.
[in]	lock_state	- The lock state of Motor.

Output: None

Return: None

Others: None

◆ reset()

void MeEncoderNew::reset ( void )

Function: reset

Description: Reset the parameter of Motor.

Output: None

Return: None

Others: None

◆ runSpeed()

void MeEncoderNew::runSpeed	(	float	speed,
		float	lock_state = `1`
	)

Function: runSpeed

Description: The speed of Motor's movement.

Parameters

[in] speed - The speed move of Motor.

Output: None

Return: None

Others: None

Function: runSpeed

Description: The speed of Motor's movement.

Parameters

[in]	speed	- The speed move of Motor.
[in]	lock_state	- The lock state of Motor.

Output: None

Return: None

Others: None

◆ runSpeedAndTime()

void MeEncoderNew::runSpeedAndTime	(	float	speed,
		float	time,
		float	lock_state = `1`
	)

Function: runSpeedAndTime

Description: The speed and time of Motor's movement.

Parameters

[in]	speed	- The speed move of Motor.
[in]	time	- The time move of Motor.
[in]	lock_state	- The lock state of Motor.

Output: None

Return: None

Others: None

◆ runTurns()

void MeEncoderNew::runTurns	(	long	turns,
		float	speed = `220`,
		float	lock_state = `1`
	)

Function: runTurns

Description: Motor move turns.

Parameters

[in]	turns	- The turns move of Motor.
[in]	speed	- The speed move of Motor.
[in]	lock_state	- The lock state of Motor.

Output: None

Return: None

Others: None

◆ setAddr()

void MeEncoderNew::setAddr	(	uint8_t	i2cAddr,
		uint8_t	slot
	)

Function: setAddr

Description: Reset the i2c address of encoder motor .

Parameters

[in]	i2cAddr	- i2c address of encoder motor
[in]	slot	- slot number of encoder motor

Output: None

Return: None

Others: None

◆ setCurrentPosition()

void MeEncoderNew::setCurrentPosition ( long pulse_counter )

Function: setCurrentPosition

Description: Set current position of Motor.

Parameters

[in] pulse_counter - The count value of current encoder

Output: None

Return: None

Others: None

◆ setDevid()

void MeEncoderNew::setDevid ( uint8_t devid )

Function: setDevid

Description: Set the devid to Motor.

Parameters

[in] devid - the I2C adress

Output: None

Return: None

Others: None

◆ setMode()

void MeEncoderNew::setMode ( uint8_t mode )

Function: setMode

Description: Set the work mode to Motor.

Parameters

[in] mode - The work mode of Motor.

Output: None

Return: None

Others: None

◆ setPosPID()

void MeEncoderNew::setPosPID	(	float	p,
		float	i,
		float	d
	)

Function: setPosPID

Description: Set pos PID for Motor.

Parameters

[in]	p	- P means Proportion.
[in]	i	- I means Integration.
[in]	d	- D means Differentiation.

Output: None

Return: None

Others: None

◆ setPulse()

void MeEncoderNew::setPulse ( int pulse )

Function: setPulse

Description: Set the pulse to Motor.

Parameters

[in] pulse - the line number of Motor

Output: None

Return: None

Others: None

◆ setPWM()

void MeEncoderNew::setPWM ( int pwm )

Function: setPWM

Description: Set the PWM to Motor.

Parameters

[in] pwm - Pulse-Width Modulation.

Output: None

Return: None

Others: None

◆ setRatio()

void MeEncoderNew::setRatio ( float ratio )

Function: setRatio

Description: Set the ratio to Motor.

Parameters

[in] ratio - the ratio of Motor

Output: None

Return: None

Others: None

◆ setSpeedPID()

void MeEncoderNew::setSpeedPID	(	float	p,
		float	i,
		float	d
	)

Function: setSpeedPID

Description: Set speed PID for Motor.

Parameters

[in]	p	- P means Proportion.
[in]	i	- I means Integration.
[in]	d	- D means Differentiation.

Output: None

Return: None

Others: None

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

src/MeEncoderNew.h
src/MeEncoderNew.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ MeEncoderNew() [1/3]

◆ MeEncoderNew() [2/3]

◆ MeEncoderNew() [3/3]

Member Function Documentation

◆ begin()

◆ getCurrentPosition()

◆ getCurrentSpeed()

◆ getFirmwareVersion()

◆ getPosPID()

◆ getPulse()

◆ getRatio()

◆ getSpeedPID()

◆ isTarPosReached()

◆ move()

◆ moveTo()

◆ reset()

◆ runSpeed()

◆ runSpeedAndTime()

◆ runTurns()

◆ setAddr()

◆ setCurrentPosition()

◆ setDevid()

◆ setMode()

◆ setPosPID()

◆ setPulse()

◆ setPWM()

◆ setRatio()

◆ setSpeedPID()