Driver for Encoder module on MeAuriga and MeMegaPi. More...

#include <src/MeEncoderOnBoard.h>

Public Member Functions
	MeEncoderOnBoard ()

	MeEncoderOnBoard (int slot)

void	reset (uint8_t slot)

uint8_t	getSlotNum (void) const

uint8_t	getIntNum (void) const

uint8_t	getPortA (void) const

uint8_t	getPortB (void) const

long	getPulsePos (void) const

void	setPulsePos (long pulse_pos)

void	pulsePosPlus (void)

void	pulsePosMinus (void)

void	setCurrentSpeed (float speed)

float	getCurrentSpeed (void) const

int16_t	getCurPwm (void) const

void	setTarPWM (int16_t pwm_value)

void	setMotorPwm (int16_t pwm)

void	updateSpeed (void)

void	updateCurPos (void)

long	getCurPos (void) const

void	runSpeed (float speed)

void	setSpeed (float speed)

void	move (long position, float speed=100, int16_t extId=0, cb callback=NULL)

void	moveTo (long position, float speed=100, int16_t extId=0, cb callback=NULL)

long	distanceToGo () const

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

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

void	setPulse (int16_t pulseValue)

void	setRatio (float RatioValue)

void	setMotionMode (int16_t motionMode)

int16_t	pidPositionToPwm (void)

int16_t	speedWithoutPos (void)

void	encoderMove (void)

void	pwmMove (void)

boolean	isTarPosReached (void) const

void	loop (void)

Detailed Description

Driver for Encoder module on MeAuriga and MeMegaPi.

Class: MeEncoderOnBoard

Description: Declaration of Class MeEncoderOnBoard

Copyright (C), 2012-2016, MakeBlock

Constructor & Destructor Documentation

◆ MeEncoderOnBoard() [1/2]

MeEncoderOnBoard::MeEncoderOnBoard ( )

Alternate Constructor which can call your own function to map the Encoder motor to arduino port, no pins are used or initialized here.

Parameters

[in] None

◆ MeEncoderOnBoard() [2/2]

MeEncoderOnBoard::MeEncoderOnBoard ( int slot )

Alternate Constructor which can call your own function to map the Encoder motor to arduino port

Parameters

[in] slot - megapi slot from SLOT1 to SLOT4(Auriga SLOT1 and SLOT2).

Member Function Documentation

◆ distanceToGo()

long MeEncoderOnBoard::distanceToGo ( void ) const

Function: distanceToGo

Description: The distance that encoder should go, units are in degrees.\r
So 360-degree means a circle.

Parameters

[in] None

Output: None

Return: long - Return the length that encoder need run.

Others: None

◆ encoderMove()

void MeEncoderOnBoard::encoderMove ( void )

Function: encoderMove

Description: This function used for move with PID mode.

Parameters

[in] None

Output: None

Return: None

Others: None

◆ getCurPos()

long MeEncoderOnBoard::getCurPos ( void ) const

Function: getCurPos

Description: This function used to get the current position(The units are degrees).

Parameters

[in] None

Output: None

Return: None

Others: None

◆ getCurPwm()

int16_t MeEncoderOnBoard::getCurPwm ( void ) const

Function: getCurPwm

Description: This function used to get the current pwm setting.

Parameters

[in] None

Output: None

Returns: None

Others: None

Function: getCurPwm

Description: This function used to get the current pwm setting.

Parameters

[in] None

Output: None

Returns: int16_t - the pwm setting

Others: None

◆ getCurrentSpeed()

float MeEncoderOnBoard::getCurrentSpeed ( void ) const

Function: getCurrentSpeed

Description: This function used to get the current speed(The unit is rpm).

Parameters

[in] None

Output: None

Returns: float - the speed value(The unit is rpm).

Others: None

◆ getIntNum()

uint8_t MeEncoderOnBoard::getIntNum ( void ) const

Function: getIntNum

Description: This function used to get the Auriga/MegaPi Interrupt number of current objects.

Parameters

[in] None

Output: None

Returns: uint8_t - The Interrupt number of current objects

Others: None

◆ getPortA()

uint8_t MeEncoderOnBoard::getPortA ( void ) const

Function: getPortA

Description: This function used to get the GPIO number of current objects's dir port A.

Parameters

[in] None

Output: None

Returns: uint8_t - The GPIO number of current objects's dir port A

Others: None

◆ getPortB()

uint8_t MeEncoderOnBoard::getPortB ( void ) const

Function: getPortB

Description: This function used to get the GPIO number of current objects's dir port B.

Parameters

[in] None

Output: None

Returns: uint8_t - The GPIO number of current objects's dir port B

Others: None

◆ getPulsePos()

long MeEncoderOnBoard::getPulsePos ( void ) const

Function: getPulsePos

Description: This function used to get the current pos value(pulse counter).

Parameters

[in] None

Output: None

Returns: long - current pos value

Others: None

◆ getSlotNum()

uint8_t MeEncoderOnBoard::getSlotNum ( void ) const

Function: getSlotNum

Description: This function used to get the Auriga/MegaPi slot number of current objects.

Parameters

[in] None

Output: None

Returns: uint8_t - The slot number of current objects

Others: None

◆ isTarPosReached()

boolean MeEncoderOnBoard::isTarPosReached ( void ) const

Function: isTarPosReached

Description: This function used to determine whether the motor come to the target position.
It is mainly applied to function moveTo or function move

Parameters

[in] None

Output: None

Return: true - target position is reached, otherwise

Others: None

◆ loop()

void MeEncoderOnBoard::loop ( void )

Function: loop

Description: This function should be called without Blocked.

Parameters

[in] None

Output: None

Return: None

Others: None

◆ move()

void MeEncoderOnBoard::move	(	long	position,
		float	speed = `100`,
		int16_t	extId = `0`,
		cb	callback = `NULL`
	)

Function: move

Description: encoder motor moves to the relative positions.

Parameters

[in]	position	- The relative angle encoder motor moves.
[in]	speed	- the speed value(The unit is rpm).
[in]	extId	- It is used to indicate the ID of motor(Optional parameters).
[in]	callback	- callback function when the target position has been reached(Optional parameters).

Output: None

Return: None

Others: None

◆ moveTo()

void MeEncoderOnBoard::moveTo	(	long	position,
		float	speed = `100`,
		int16_t	extId = `0`,
		cb	callback = `NULL`
	)

Function: moveTo

Description: encoder motor moves to the absolute position.

Parameters

[in]	position	- The absolute angle encoder motor moves.
[in]	speed	- the speed value(The unit is rpm).
[in]	extId	- It is used to indicate the ID of motor(Optional parameters).
[in]	callback	- callback function when the target position has been reached(Optional parameters).

Output: None

Return: None

Others: None

◆ pidPositionToPwm()

int16_t MeEncoderOnBoard::pidPositionToPwm ( void )

Function: pidPositionToPwm

Description: This function used to calculate the PWM motor value of encoder motor(position & speed).

Parameters

[in] None

Output: None

Return: None

Others: None

◆ pulsePosMinus()

void MeEncoderOnBoard::pulsePosMinus ( void )

Function: pulsePosMinus

Description: This function used to reduction the current pos value(pulse counter).

Parameters

[in] None

Output: None

Returns: None

Others: None

◆ pulsePosPlus()

void MeEncoderOnBoard::pulsePosPlus ( void )

Function: pulsePosPlus

Description: This function used to increase the current pos value(pulse counter).

Parameters

[in] None

Output: None

Returns: None

Others: None

◆ pwmMove()

void MeEncoderOnBoard::pwmMove ( void )

Function: pwmMove

Description: This function used for move with PWM mode.

Parameters

[in] None

Output: None

Return: None

Others: None

◆ reset()

void MeEncoderOnBoard::reset ( uint8_t slot )

Function: reset

Description: Reset the encoder motor available PIN by Auriga/MegaPi slot.

Parameters

[in] slot - MegaPi encoder port from SLOT1 to SLOT4(Auriga SLOT1 and SLOT2).

Output: None

Returns: None

Others: None

◆ runSpeed()

void MeEncoderOnBoard::runSpeed ( float speed )

Function: runSpeed

Description: The speed of encode, and encoder motor will running with the setting speed.

Parameters

[in] speed - the speed value(The unit is rpm).

Output: None

Return: None

Others: None

◆ setCurrentSpeed()

void MeEncoderOnBoard::setCurrentSpeed ( float speed )

Function: setCurrentSpeed

Description: This function used to set the current speed(The unit is rpm).

Parameters

[in] speed - the speed value(The unit is rpm).

Output: None

Returns: None

Others: None

◆ setMotionMode()

void MeEncoderOnBoard::setMotionMode ( int16_t motionMode )

Function: setMotionMode

Description: This function used to set the motion mode of encoder motor.

Parameters

[in] motionMode - motion mode

Output: None

Return: None

Others: None

◆ setMotorPwm()

void MeEncoderOnBoard::setMotorPwm ( int16_t pwm )

Function: setMotorPwm

Description: This function used to set current pwm setting.

Parameters

[in] pwm - the pwm setting

Output: None

Returns: None

Others: None

Function: setMotorPwm

Description: This function used to execute current pwm setting.

Parameters

[in] pwm - the pwm setting

Output: None

Returns: None

Others: None

◆ setPosPid()

void MeEncoderOnBoard::setPosPid	(	float	p,
		float	i,
		float	d
	)

Function: setPosPid

Description: This function used to set the PID parameters for encoder motor's pos.

Parameters

[in]	p	- Proportion parameter
[in]	i	- Integration Parameters
[in]	d	- Differential parameter

Output: None

Return: None

Others: None

◆ setPulse()

void MeEncoderOnBoard::setPulse ( int16_t pulseValue )

Function: setPulse

Description: This function used to set the pulse number of encoder code disc.

Parameters

[in] pulseValue - pulse number

Output: None

Return: None

Others: None

◆ setPulsePos()

void MeEncoderOnBoard::setPulsePos ( long pulsePos )

Function: setPulsePos

Description: This function used to Set the current pos value(pulse counter). Generally used for
reset the distance calculation.

Parameters

[in] pulsePos - the value of pos value(pulse counter)

Output: None

Returns: None

Others: None

◆ setRatio()

void MeEncoderOnBoard::setRatio ( float RatioValue )

Function: setRatio

Description: This function used to set the ratio of encoder motor.

Parameters

[in] RatioValue - ratio number

Output: None

Return: None

Others: None

◆ setSpeed()

void MeEncoderOnBoard::setSpeed ( float speed )

Function: setSpeed

Description: This function used to set the current speed(The unit is rpm).
Note: used with update function.

Parameters

[in] speed - the speed value(The unit is rpm).

Output: None

Returns: None

Others: None

◆ setSpeedPid()

void MeEncoderOnBoard::setSpeedPid	(	float	p,
		float	i,
		float	d
	)

Function: setSpeedPid

Description: This function used to set the PID parameters for encoder motor's speed.

Parameters

[in]	p	- Proportion parameter
[in]	i	- Integration Parameters
[in]	d	- Differential parameter

Output: None

Return: None

Others: None

◆ setTarPWM()

void MeEncoderOnBoard::setTarPWM ( int16_t pwm_value )

Function: setTarPWM

Description: This function used for set the target pwm value.

Parameters

[in] pwm_value - the target pwm value.

Output: None

Return: None

Others: None

◆ speedWithoutPos()

int16_t MeEncoderOnBoard::speedWithoutPos ( void )

Function: speedWithoutPos

Description: This function used to calculate the PWM motor value of encoder motor(single speed).

Parameters

[in] None

Output: None

Return: None

Others: None

◆ updateCurPos()

void MeEncoderOnBoard::updateCurPos ( void )

Function: updateCurPos

Description: This function used to calculate the current position(The units are degrees).

Parameters

[in] None

Output: None

Return: None

Others: None

◆ updateSpeed()

void MeEncoderOnBoard::updateSpeed ( void )

Function: updateSpeed

Description: This function used to update current speed.

Parameters

[in] None

Output: None

Returns: None

Others: None

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

src/MeEncoderOnBoard.h
src/MeEncoderOnBoard.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ MeEncoderOnBoard() [1/2]

◆ MeEncoderOnBoard() [2/2]

Member Function Documentation

◆ distanceToGo()

◆ encoderMove()

◆ getCurPos()

◆ getCurPwm()

◆ getCurrentSpeed()

◆ getIntNum()

◆ getPortA()

◆ getPortB()

◆ getPulsePos()

◆ getSlotNum()

◆ isTarPosReached()

◆ loop()

◆ move()

◆ moveTo()

◆ pidPositionToPwm()

◆ pulsePosMinus()

◆ pulsePosPlus()

◆ pwmMove()

◆ reset()

◆ runSpeed()

◆ setCurrentSpeed()

◆ setMotionMode()

◆ setMotorPwm()

◆ setPosPid()

◆ setPulse()

◆ setPulsePos()

◆ setRatio()

◆ setSpeed()

◆ setSpeedPid()

◆ setTarPWM()

◆ speedWithoutPos()

◆ updateCurPos()

◆ updateSpeed()