Class to handle KeiganMotor via I2C Communication [詳解]

#include <KM1_I2C.h>

公開メンバ関数
	KeiganMotor (uint8_t address, int clock=1000000)
	Initialize by specifying I2C Address [詳解]

void	begin ()
	start I2C communication via Wire library [詳解]

bool	write (uint8_t command, uint8_t *value, uint8_t value_len, bool response=false)
	Write command function [詳解]

error_t	getError ()
	Get the error that master retains. getError() is designed to use after getting response of write command. [詳解]

Write register
bool	enableCheckSum (bool isEnabled, bool response=false)
	Set checksum validadtion enabled. [詳解]

bool	interface (uint8_t flag, bool response=false)
	Set available interface [詳解]

bool	limitCurrent (float value, bool response=false)
	Limit current [詳解]

bool	writeResponse (bool isEnabled, bool response=false)
	Set write response enabled or disabled [詳解]

bool	safeRun (bool isEnabled, uint32_t timeout, uint8_t op, bool response=false)
	Set safe run mode to stop motor automatically when it cannot receive next command within a certain period (timeout). [詳解]

bool	motorMeasurementInterval (uint8_t interval, bool response=false)
	Set motor measurement interval [詳解]

bool	saveAllRegisters (bool response=false)
	Save all the registers KeiganMotor retains. [詳解]

bool	resetRegister (uint8_t reg, bool response=false)
	Reset a register value to default. [詳解]

bool	resetAllRegisters (bool response=false)
	Reset all the registers to default. [詳解]

Write register (PID Controller)
bool	qCurrentP (float value, bool response=false)
	Set Q-axis current PID controller gain P. [詳解]

bool	qCurrentI (float value, bool response=false)
	Set Q-axis current PID controller gain I. [詳解]

bool	qCurrentD (float value, bool response=false)
	Set Q-axis current PID controller gain D. [詳解]

bool	speedP (float value, bool response=false)
	Set Speed PID controller gain P. [詳解]

bool	speedI (float value, bool response=false)
	Set Speed PID controller gain I. [詳解]

bool	speedD (float value, bool response=false)
	Set Speed PID controller gain D. [詳解]

bool	positionP (float value, bool response=false)
	Set Position PID controller gain P [詳解]

bool	positionI (float value, bool response=false)
	Set Position PID controller gain I [詳解]

bool	positionD (float value, bool response=false)
	Set Position PID controller gain D [詳解]

bool	positionIDThreshold (float value, bool response=false)
	Set the threshold [radian] to determine Position PID control available range [詳解]

bool	positionIDThresholdDegree (float value, bool response=false)
	Set the threshold [degree] to determine Position PID control available range [詳解]

bool	resetPID (bool response=false)
	Reset all the PID parameters to default [詳解]

Read data
bool	readRegister (uint8_t reg, uint8_t *value, uint8_t value_len)
	Read register function [詳解]

status_t	readStatus (void)
	Read status function [詳解]

float	readMaxSpeed (void)
	Read the maximum speed [詳解]

float	readMinSpeed (void)
	Read the minimum speed [詳解]

uint8_t	readCurveType (void)
	Read the curveType fo motion control. See CURVE_TYPE_NONE and CURVE_TYPE_TRAPEZOID. [詳解]

float	readAcc (void)
	Read the acceleration value [詳解]

float	readDec (void)
	Read the deceleration value [詳解]

float	readMaxTorque (void)
	Read the resister value of max torque (limitation) [詳解]

bool	readMotorMeasurement (void)
	Read motor measurement data [詳解]

bool	readIMUMeasurement (void)
	Read IMU measurement data [詳解]

bool	readDeviceName (char *name)
	Read the KeiganMotor device name [詳解]

bool	readDeviceInfo (uint8_t type, char *str)
	Read the device information [詳解]

error_t	readError (void)
	Read the latest error [詳解]

Read PID controller parameters
float	readQCurrentP (void)
	Read the resister value of Current PID controller P gain [詳解]

float	readQCurrentI (void)
	Read the resister value of Current PID controller I gain [詳解]

float	readQCurrentD (void)
	Read the resister value of Current PID controller D gain [詳解]

float	readSpeedP (void)
	Read the resister value of Speed PID controller P gain [詳解]

float	readSpeedI (void)
	Read the resister value of Speed PID controller I gain [詳解]

float	readSpeedD (void)
	Read the resister value of Speed PID controller D gain [詳解]

float	readPositionP (void)
	Read the resister value of Position PID controller P gain [詳解]

float	readPositionI (void)
	Read the resister value of Position PID controller I gain [詳解]

float	readPositionD (void)
	Read the resister value of Position PID controller D gain [詳解]

float	readPositionIDThreshold (void)
	Read the threshold [radian] to determine Position PID control available range [詳解]

float	readPositionIDThresholdDegree (void)
	Read the threshold [degree] to determine Position PID control available range [詳解]

Enable or Disable motor action
bool	disable (bool response=false)
	Disable motor action. [詳解]

bool	enable (bool response=false)
	Enable motor action. [詳解]

Motor control Settings
bool	maxSpeed (float value, bool response=false)
	Set max speed function to limit absolute value of velocity [詳解]

bool	minSpeed (float value, bool response=false)
	Set min speed. It is used in case of "prepare playback motion" [詳解]

bool	curveType (uint8_t type, bool response=false)
	Set curve type for motion control. [詳解]

bool	acc (float value, bool response=false)
	Set acceleration value. It is ignored when curve type is 0(CURVETYPE_NONE). [詳解]

bool	dec (float value, bool response=false)
	Set deceleration value. It is ignored when curve type is 0(CURVETYPE_NONE). [詳解]

bool	maxTorque (float value, bool response=false)
	Set Max torque value to limit current not to be above the torque. [詳解]

bool	speed (float value, bool response=false)
	Set anglular speed [radian/second] [詳解]

bool	speedRpm (float rpm, bool response=false)
	Set anglular speed [rotation/minute] (rpm) [詳解]

bool	presetPosition (float value, bool response=false)
	Set the current position as a certain position [radian] [詳解]

bool	presetPositionDegree (float degree, bool response=false)
	Set the current position as a certain position [degree] [詳解]

Motor action (Velocity Control)
bool	runAtVelocity (float value, bool response=false)
	Run at a certain velocity [radian/second] [詳解]

bool	runAtVelocityRpm (float rpm, bool response=false)
	Run at a certain velocity [rotation/minute] (rpm) [詳解]

bool	runForward (bool response=false)
	Run forward [詳解]

bool	runReverse (bool response=false)
	Run Reverse [詳解]

bool	stop (bool response=false)
	Stop [詳解]

Motor action (Position Control)
bool	moveToPosition (float position, bool response=false)
	Move to an absolute position [radian] [詳解]

bool	moveToPositionDegree (float degree, bool response=false)
	Move to an absolute position [degree] [詳解]

bool	moveByDistance (float distance, bool response=false)
	Move by a distance (move to an relative position) [radian] [詳解]

bool	moveByDistanceDegree (float degree, bool response=false)
	Move by a distance (move to an relative position) [degree] [詳解]

Motor action (others)
bool	free (bool response=false)
	De-energize motor (make motor free) [詳解]

Queue
bool	wait (uint32_t time, bool response=false)
	Wait for execution of next commands for time [msec]. [詳解]

Others
bool	i2cSlaveAddress (uint8_t address, bool response=false)
	Set I2C slave address. [詳解]

bool	reboot (bool response=false)
	Reboot KeiganMotor [詳解]

bool	startMotorMeasurement (bool response=false)
	Start motor measurement timer [詳解]

bool	stopMotorMeasurement (bool response=false)
	Stop motor measurement timer [詳解]

bool	startIMUMeasurement (bool response=false)
	Start IMU measurement timer [詳解]

bool	stopIMUMeasurement (bool response=false)
	Stop IMU measurement timer [詳解]

LED
bool	led (uint8_t state, uint8_t r, uint8_t g, uint8_t b, bool response=false)
	Set LED lit [詳解]

公開変数類
status_t	status
	Status of KeiganMotor KeiganMotor のステータス [詳解]

motor_meas_t	measurement
	Motor measurement data [詳解]

float	position
	motor angle position [radian] [詳解]

float	degree
	motor angle position [degree] [詳解]

float	velocity
	motor angle velocity [radian/second] [詳解]

float	rpm
	motor angle velocity [rotation/minute] (rpm) [詳解]

float	torque
	motor torque [N*m] [詳解]

imu_meas_t	imu
	IMU measurement data [詳解]

error_t	error
	Error or success information [詳解]

詳解

Class to handle KeiganMotor via I2C Communication

KeiganMotor Class

It is able to control motor, change settings and read measurement data KeiganMotor を I2C 経由で扱うためのクラスモーターの制御や設定、測定値の取得を行う

構築子と解体子

◆ KeiganMotor()

KeiganMotor::KeiganMotor	(	uint8_t	address,
		int	clock = `1000000`
	)

Initialize by specifying I2C Address

KeiganMotorコンストラクタ.

引数

[in]	address	I2C slave address (7bit: 0x01~0x7E)
[in]	clock	(It can be up to 4000000. default:1000000)

関数詳解

◆ acc()

bool KeiganMotor::acc	(	float	value,
		bool	response = `false`
	)

Set acceleration value. It is ignored when curve type is 0(CURVETYPE_NONE).

引数

[in]	value	float acceleration to set [radian/second^2]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ begin()

void KeiganMotor::begin ( )

start I2C communication via Wire library

◆ curveType()

bool KeiganMotor::curveType	(	uint8_t	type,
		bool	response = `false`
	)

Set curve type for motion control.

引数

[in]	type	CurveType to set CURVE_TYPE_NONE = 0: No curve. It's cyclic and step function. CURVE_TYPE_TRAPEZOID = 1: Trapezoidal velocity curve.
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ dec()

bool KeiganMotor::dec	(	float	value,
		bool	response = `false`
	)

Set deceleration value. It is ignored when curve type is 0(CURVETYPE_NONE).

引数

[in]	value	float deceleration to set [radian/second^2]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ disable()

bool KeiganMotor::disable ( bool response = false )

Disable motor action.

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ enable()

bool KeiganMotor::enable ( bool response = false )

Enable motor action.

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ enableCheckSum()

bool KeiganMotor::enableCheckSum	(	bool	isEnabled,
		bool	response = `false`
	)

Set checksum validadtion enabled.

KeiganMotor will validate received data after receiving this command.

引数

[in]	isEnabled	true if make Checksum validation enabled
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ free()

bool KeiganMotor::free ( bool response = false )

De-energize motor (make motor free)

It keeps viscosity a little bit. You should use disable() to turn off rotational resistance completely.

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ getError()

error_t KeiganMotor::getError ( )

Get the error that master retains.
getError() is designed to use after getting response of write command.

戻り値: the latest error that Arduino retains (see error_t)
bool result = m.runFoward(true);

if(result != 0){

error_t error = m.getError();

Serial.print("error code is ");

Serial.println(error.code);

}

覚え書き: The difference between getError() and readError() function is that
getError() just returns the latest error data retained by master (Arduino), while readError()
send a command to request the latest error data that KeiganMotor retains.

◆ i2cSlaveAddress()

bool KeiganMotor::i2cSlaveAddress	(	uint8_t	address,
		bool	response = `false`
	)

Set I2C slave address.

引数

[in]	address	I2C address (0x00~0x7F)
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

注釈: saveAllRegisters() and reboot() is required to reflact the address value.
if(m.i2cSlaveAddress(0x30)){

m.saveAllRegisters();

delay(3000);

m.reboot();

}

◆ interface()

bool KeiganMotor::interface	(	uint8_t	flag,
		bool	response = `false`
	)

Set available interface

You can enable or disable the data interfaces(physical 3 buttons, I2C, USB, BLE and so on).
The motor chooses the output interface of motor measurement values and IMU values as
(High priority)BLE > UART1(USB) > I2C(Low priority) by default.
If you want to force it to send measurement values through USB,
you need to set bit0(BLE) to OFF(0) and bit3(USB) to ON(1). For example, if you call set_interface(0b10001000),
Physical 3 buttons: enabled, I2C: disabled, USB: enabled and BLE: disabled.
To save this setting to the flash memory, ensure you call saveAllRegisters().

引数

[in]	flag	uint8_t value consists of the following bit flag. bit0: INTERFACE_BIT_BLE: Bluetooth Low Energy (Wireless) bit1: INTERFACE_BIT_LINKAGE: Linkage (Wireless) bit2: - bit3: INTERFACE_BIT_UART1: UART1 (USB) bit4: INTERFACE_BIT_I2C: I2C (Wired) bit5: INTERFACE_BIT_DIGITAL_IO: DigitalIO (Wired) bit6: INTERFACE_BIT_UART2: UART2 (Wired) bit7: INTERFACE_BIT_BUTTON: Physical buttons
[in]	response	true if you get response after sending command, default: false // Enable I2C and disable both of BLE and USB // Notification will be sent via I2C. uint8_t flag = 0; flag \|= INTERFACE_BIT_I2C; // Enable I2C flag \|= INTERFACE_BIT_BUTTON; // Enable buttons m.interface(flag); m.saveAllRegisters(); m.reboot();

覚え書き

The following interfaces share a common resource, so you cannot set 1 to all of them.

BLE and Linkage
UART1(USB) and UART2
I2C, DigitalIO and UART2

◆ led()

bool KeiganMotor::led	(	uint8_t	state,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b,
		bool	response = `false`
	)

Set LED lit

引数

[in]	state	LedState LED_STATE_OFF = 0: off 消灯 LED_STATE_ON_SOLID = 1: on solid 点灯 LED_STATE_ON_FLASH = 2: on flashing 点滅
[in]	r	Red brightness (0-255)
[in]	g	Green brightness (0-255)
[in]	b	Blue brightness (0-255)
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ limitCurrent()

bool KeiganMotor::limitCurrent	(	float	value,
		bool	response = `false`
	)

Limit current

引数

[in]	value	Max current to limit.
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

注釈: Make this value big enough when you want to draw maximum energy from power source.

◆ maxSpeed()

bool KeiganMotor::maxSpeed	(	float	value,
		bool	response = `false`
	)

Set max speed function to limit absolute value of velocity

引数

[in]	value	float speed to set [radian/second]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ maxTorque()

bool KeiganMotor::maxTorque	(	float	value,
		bool	response = `false`
	)

Set Max torque value to limit current not to be above the torque.

引数

[in]	value	float max torque to set [N*m]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ minSpeed()

bool KeiganMotor::minSpeed	(	float	value,
		bool	response = `false`
	)

Set min speed. It is used in case of "prepare playback motion"

引数

[in]	value	float speed to set [radian/second]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ motorMeasurementInterval()

bool KeiganMotor::motorMeasurementInterval	(	uint8_t	interval,
		bool	response = `false`
	)

Set motor measurement interval

引数

[in]	interval	the following integer value 0: INTERVAL_MS_2MS = 2 [ms] 1: INTERVAL_MS_5MS = 5 [ms] 2: INTERVAL_MS_10MS = 10 [ms] 3: INTERVAL_MS_20MS = 20 [ms] 4: INTERVAL_MS_50MS = 50 [ms] 5: INTERVAL_MS_100MS = 100 [ms] 6: INTERVAL_MS_200MS = 200 [ms] 7: INTERVAL_MS_500MS = 500 [ms] 8: INTERVAL_MS_1000MS = 1000 [ms] 9: INTERVAL_MS_2000MS = 2000 [ms] 10:INTERVAL_MS_5000MS = 5000 [ms] 11:INTERVAL_MS_10000MS =10000 [ms]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

覚え書き: The default value is 100ms. The value less than 100ms will be ignored only in case of BLE (Bluetooth)
See interface function

◆ moveByDistance()

bool KeiganMotor::moveByDistance	(	float	distance,
		bool	response = `false`
	)

Move by a distance (move to an relative position) [radian]

It uses preset speed value by function speed()

引数

[in]	distance	distance [radian]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ moveByDistanceDegree()

bool KeiganMotor::moveByDistanceDegree	(	float	degree,
		bool	response = `false`
	)

Move by a distance (move to an relative position) [degree]

It uses preset speed value by function speed()

引数

[in]	degree	degree [degree]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ moveToPosition()

bool KeiganMotor::moveToPosition	(	float	position,
		bool	response = `false`
	)

Move to an absolute position [radian]

It uses preset speed value by function speed()

引数

[in]	position	position [radian]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ moveToPositionDegree()

bool KeiganMotor::moveToPositionDegree	(	float	degree,
		bool	response = `false`
	)

Move to an absolute position [degree]

It uses preset speed value by function speed()

引数

[in]	degree	degree [degree]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ positionD()

bool KeiganMotor::positionD	(	float	value,
		bool	response = `false`
	)

Set Position PID controller gain D

引数

[in]	value	Position PID controller gain D (differential).
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

注釈: Position integral and differential term are ignored out of positionIDThreshold range. (See positionIDThreshold function)

◆ positionI()

bool KeiganMotor::positionI	(	float	value,
		bool	response = `false`
	)

Set Position PID controller gain I

引数

[in]	value	Position PID controller gain I (integral)
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

注釈: Position integral and differential term are ignored out of positionIDThreshold range. (See positionIDThreshold function)

◆ positionIDThreshold()

bool KeiganMotor::positionIDThreshold	(	float	value,
		bool	response = `false`
	)

Set the threshold [radian] to determine Position PID control available range

Position PID control is available within the range determined by this threshold,
while only Position P control is available out of the range.
The conditions are as follows.

if(|currentPosition - targetPosition| < threshold) // do PID control.

else {// do P control}

覚え書き: Position integral and differential gains are ignored out of the range.If you want to always do PID control,
set the this value large enough.

引数

[in]	value	the threshold to determine the available range of PID control. [radian]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ positionIDThresholdDegree()

bool KeiganMotor::positionIDThresholdDegree	(	float	value,
		bool	response = `false`
	)

Set the threshold [degree] to determine Position PID control available range

See KeiganMotor::positionIDThreshold.

引数

[in]	value	The threshold determines the available area of PID control. [degree]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ positionP()

bool KeiganMotor::positionP	(	float	value,
		bool	response = `false`
	)

Set Position PID controller gain P

引数

[in]	value	Position PID controller gain P (proportional)
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ presetPosition()

bool KeiganMotor::presetPosition	(	float	value,
		bool	response = `false`
	)

Set the current position as a certain position [radian]

presetPosition(0) makes the current position as "Zero" point.

引数

[in]	value	preset position [radian]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ presetPositionDegree()

bool KeiganMotor::presetPositionDegree	(	float	degree,
		bool	response = `false`
	)

Set the current position as a certain position [degree]

presetPositionDegree(30) makes the current position as "30 degree".

引数

[in]	degree	preset position [degree]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ qCurrentD()

bool KeiganMotor::qCurrentD	(	float	value,
		bool	response = `false`
	)

Set Q-axis current PID controller gain D.

引数

[in]	value	Q-axis current PID controller gain D (differential)
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ qCurrentI()

bool KeiganMotor::qCurrentI	(	float	value,
		bool	response = `false`
	)

Set Q-axis current PID controller gain I.

引数

[in]	value	Q-axis current PID controller gain I (integral)
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ qCurrentP()

bool KeiganMotor::qCurrentP	(	float	value,
		bool	response = `false`
	)

Set Q-axis current PID controller gain P.

引数

[in]	value	Q-axis current PID controller gain P (proportional)
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ readAcc()

float KeiganMotor::readAcc ( void )

Read the acceleration value

戻り値: float acceleration [radian/second^2]

◆ readCurveType()

uint8_t KeiganMotor::readCurveType ( void )

Read the curveType fo motion control.
See CURVE_TYPE_NONE and CURVE_TYPE_TRAPEZOID.

戻り値

curveType

CURVE_TYPE_NONE = 0: No curve. It's cyclic and step function.
CURVE_TYPE_TRAPEZOID = 1: Trapezoidal velocity curve.

◆ readDec()

float KeiganMotor::readDec ( void )

Read the deceleration value

戻り値: float deceleration [radian/second^2]

◆ readDeviceInfo()

bool KeiganMotor::readDeviceInfo	(	uint8_t	type,
		char *	str
	)

Read the device information

todo:

◆ readDeviceName()

bool KeiganMotor::readDeviceName ( char * name )

Read the KeiganMotor device name

The name is like "KM-1U AI09#3R9"

覚え書き: Please set char *name size more than 14 bytes.

◆ readError()

error_t KeiganMotor::readError ( void )

Read the latest error

The response data is the same formart as error response of write command.

戻り値: the latest error (see error_t)

覚え書き: The difference between getError() and this function is that
getError() just returns the retained error data by master (Arduino), while readError() send a command to request the latest error data that KeiganMotor retains.

◆ readIMUMeasurement()

bool KeiganMotor::readIMUMeasurement ( void )

Read IMU measurement data

IMU values are available after sending this command. See imu_t.

if(m.readIMUMeasurement()){
    Serial.print(gyro-x: );
    Serial.println(m.imu.gyroX);
} else {
    Serial.println("error");
}

戻り値

true	received data from KeiganMotor successfully
false	got an error

◆ readMaxSpeed()

float KeiganMotor::readMaxSpeed ( void )

Read the maximum speed

戻り値: float max speed [radian/second]

◆ readMaxTorque()

float KeiganMotor::readMaxTorque ( void )

Read the resister value of max torque (limitation)

戻り値: float max torque [N*m]

You can do torque control during velocity or position control

◆ readMinSpeed()

float KeiganMotor::readMinSpeed ( void )

Read the minimum speed

戻り値: float min speed [radian/second]

◆ readMotorMeasurement()

bool KeiganMotor::readMotorMeasurement ( void )

Read motor measurement data

Position, velocity and torque values are available from property after sending this command.
In addition to it, you can get degree and rpm values as property of KeiganMotor. .

戻り値

true	received data from KeiganMotor successfully
false	got an error if(m.readMotorMeasurement()){ Serial.print(degree: ); Serial.println(m.degree); } else { Serial.println("error"); }

◆ readPositionD()

float KeiganMotor::readPositionD ( void )

Read the resister value of Position PID controller D gain

戻り値: float gain

◆ readPositionI()

float KeiganMotor::readPositionI ( void )

Read the resister value of Position PID controller I gain

戻り値: float gain

◆ readPositionIDThreshold()

float KeiganMotor::readPositionIDThreshold ( void )

Read the threshold [radian] to determine Position PID control available range

戻り値: float threshold [radian]

◆ readPositionIDThresholdDegree()

float KeiganMotor::readPositionIDThresholdDegree ( void )

Read the threshold [degree] to determine Position PID control available range

戻り値: float threshold [degree]

◆ readPositionP()

float KeiganMotor::readPositionP ( void )

Read the resister value of Position PID controller P gain

戻り値: float gain

◆ readQCurrentD()

float KeiganMotor::readQCurrentD ( void )

Read the resister value of Current PID controller D gain

戻り値: float gain

◆ readQCurrentI()

float KeiganMotor::readQCurrentI ( void )

Read the resister value of Current PID controller I gain

戻り値: float gain

◆ readQCurrentP()

float KeiganMotor::readQCurrentP ( void )

Read the resister value of Current PID controller P gain

戻り値: float gain

◆ readRegister()

bool KeiganMotor::readRegister	(	uint8_t	reg,
		uint8_t *	value,
		uint8_t	value_len
	)

Read register function

引数

[in]	reg	register
[out]	*value	value pointer to read
[in]	value_len	value length

戻り値

true	received data successfully
false	got an error

覚え書き: Use getError().code to get error code.

◆ readSpeedD()

float KeiganMotor::readSpeedD ( void )

Read the resister value of Speed PID controller D gain

戻り値: float gain

◆ readSpeedI()

float KeiganMotor::readSpeedI ( void )

Read the resister value of Speed PID controller I gain

戻り値: float gain

◆ readSpeedP()

float KeiganMotor::readSpeedP ( void )

Read the resister value of Speed PID controller P gain

戻り値: float gain

◆ readStatus()

status_t KeiganMotor::readStatus ( void )

Read status function

You can see the current status of KeiganMotor.

戻り値: status Status of KeiganMotor (See status_t.)

◆ reboot()

bool KeiganMotor::reboot ( bool response = false )

Reboot KeiganMotor

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ resetAllRegisters()

bool KeiganMotor::resetAllRegisters ( bool response = false )

Reset all the registers to default.

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

注釈: saveAllRegisters() is required to save in flash.

◆ resetPID()

bool KeiganMotor::resetPID ( bool response = false )

Reset all the PID parameters to default

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

注釈: saveAllRegisters() is required to save in flash.

◆ resetRegister()

bool KeiganMotor::resetRegister	(	uint8_t	reg,
		bool	response = `false`
	)

Reset a register value to default.

引数

[in]	reg	Register (See command_list.h)
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

注釈: The register values are saved by this command permanently in the flash.

◆ runAtVelocity()

bool KeiganMotor::runAtVelocity	(	float	value,
		bool	response = `false`
	)

Run at a certain velocity [radian/second]

This function combines speed and runForward or runReverse function.

引数

[in]	value	velocity [radian/second]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ runAtVelocityRpm()

bool KeiganMotor::runAtVelocityRpm	(	float	rpm,
		bool	response = `false`
	)

Run at a certain velocity [rotation/minute] (rpm)

Plus direction is counter clockwise when viewed from the rotation axis.

This function combines speed and runForward or runReverse function.

引数

[in]	rpm	rpm [rotation/minute] (rpm)
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ runForward()

bool KeiganMotor::runForward ( bool response = false )

Run forward

It uses preset speed value by function speed()

Forward direction is counter clockwise when viewed from the rotation axis.

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ runReverse()

bool KeiganMotor::runReverse ( bool response = false )

Run Reverse

It uses preset speed value by function speed()

Forward direction is counter clockwise when viewed from the rotation axis.

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ safeRun()

bool KeiganMotor::safeRun	(	bool	isEnabled,
		uint32_t	timeout,
		uint8_t	op,
		bool	response = `false`
	)

Set safe run mode to stop motor automatically when it cannot receive next command within a certain period (timeout).

引数

[in]	isEnabled	true if you want KeiganMotor stop automatically
[in]	timeout	timeout [millisecond]
[in]	op	SafeRunOption (stop behaviour in case of timeout)

参照: SAFE_RUN_TIMEOUT_FREE = 0
SAFE_RUN_TIMEOUT_DISABLE = 1
SAFE_RUN_TIMEOUT_STOP = 2
SAFE_RUN_TIMEOUT_POS_FIX = 3

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ saveAllRegisters()

bool KeiganMotor::saveAllRegisters ( bool response = false )

Save all the registers KeiganMotor retains.

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

注釈: The register values are saved by this command permanently in the flash.

◆ speed()

bool KeiganMotor::speed	(	float	value,
		bool	response = `false`
	)

Set anglular speed [radian/second]

引数

[in]	value	anglular speed [radian/second]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ speedD()

bool KeiganMotor::speedD	(	float	value,
		bool	response = `false`
	)

Set Speed PID controller gain D.

引数

[in]	value	Speed PID controller gain D (differential).
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ speedI()

bool KeiganMotor::speedI	(	float	value,
		bool	response = `false`
	)

Set Speed PID controller gain I.

引数

[in]	value	Speed PID controller gain I (integral)
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ speedP()

bool KeiganMotor::speedP	(	float	value,
		bool	response = `false`
	)

Set Speed PID controller gain P.

引数

[in]	value	Speed PID controller gain P (proportional)
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ speedRpm()

bool KeiganMotor::speedRpm	(	float	rpm,
		bool	response = `false`
	)

Set anglular speed [rotation/minute] (rpm)

引数

[in]	rpm	anglular speed [rotation/minute]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ startIMUMeasurement()

bool KeiganMotor::startIMUMeasurement ( bool response = false )

Start IMU measurement timer

This function will start IMU measurement notfication

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ startMotorMeasurement()

bool KeiganMotor::startMotorMeasurement ( bool response = false )

Start motor measurement timer

This function will start motor measurement notfication

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ stop()

bool KeiganMotor::stop ( bool response = false )

Stop

Keep velocity 0 by velocity control

Forward direction is counter clockwise when viewed from the rotation axis.

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ stopIMUMeasurement()

bool KeiganMotor::stopIMUMeasurement ( bool response = false )

Stop IMU measurement timer

This function will stop IMU measurement notfication

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ stopMotorMeasurement()

bool KeiganMotor::stopMotorMeasurement ( bool response = false )

Stop motor measurement timer

This function will stop motor measurement notfication

引数

[in] response true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ wait()

bool KeiganMotor::wait	(	uint32_t	time,
		bool	response = `false`
	)

Wait for execution of next commands for time [msec].

KeiganMotor has a FIFO queue inside, and this function make its execution paused for the time.
This function uses the internal timer of KeiganMotor.

引数

[in]	time	time to stop the queue [milliseconds]
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

◆ write()

bool KeiganMotor::write	(	uint8_t	command,
		uint8_t *	value,
		uint8_t	value_len,
		bool	response = `false`
	)

Write command function

引数

[in]	command	command
[in]	*value	value pointer to write
[in]	value_len	value length
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

覚え書き: Use getError().code to get error code.

◆ writeResponse()

bool KeiganMotor::writeResponse	(	bool	isEnabled,
		bool	response = `false`
	)

Set write response enabled or disabled

It response is enabled, KeiganMotor will send write response after receiving write command.

引数

[in]	isEnabled	true if write response is enabled (default: true)
[in]	response	true if you get response after sending command, default: false

戻り値

true	received response from KeiganMotor successfully
false	got an error

注釈

メンバ詳解

◆ degree

float KeiganMotor::degree

motor angle position [degree]

◆ error

error_t KeiganMotor::error

Error or success information

◆ imu

imu_meas_t KeiganMotor::imu

IMU measurement data

◆ measurement

motor_meas_t KeiganMotor::measurement

Motor measurement data

◆ position

float KeiganMotor::position

motor angle position [radian]

◆ rpm

float KeiganMotor::rpm

motor angle velocity [rotation/minute] (rpm)

◆ status

status_t KeiganMotor::status

Status of KeiganMotor KeiganMotor のステータス

◆ torque

float KeiganMotor::torque

motor torque [N*m]

◆ velocity

float KeiganMotor::velocity

motor angle velocity [radian/second]

このクラス詳解は次のファイルから抽出されました:

src/KM1_I2C.h
src/KM1_I2C.cpp

公開メンバ関数

公開変数類

詳解

構築子と解体子

◆ KeiganMotor()

関数詳解

◆ acc()

◆ begin()

◆ curveType()

◆ dec()

◆ disable()

◆ enable()

◆ enableCheckSum()

◆ free()

◆ getError()

◆ i2cSlaveAddress()

◆ interface()

◆ led()

◆ limitCurrent()

◆ maxSpeed()

◆ maxTorque()

◆ minSpeed()

◆ motorMeasurementInterval()

◆ moveByDistance()

◆ moveByDistanceDegree()

◆ moveToPosition()

◆ moveToPositionDegree()

◆ positionD()

◆ positionI()

◆ positionIDThreshold()

◆ positionIDThresholdDegree()

◆ positionP()

◆ presetPosition()

◆ presetPositionDegree()

◆ qCurrentD()

◆ qCurrentI()

◆ qCurrentP()

◆ readAcc()

◆ readCurveType()

◆ readDec()

◆ readDeviceInfo()

◆ readDeviceName()

◆ readError()

◆ readIMUMeasurement()

◆ readMaxSpeed()

◆ readMaxTorque()

◆ readMinSpeed()

◆ readMotorMeasurement()

◆ readPositionD()

◆ readPositionI()

◆ readPositionIDThreshold()

◆ readPositionIDThresholdDegree()

◆ readPositionP()

◆ readQCurrentD()

◆ readQCurrentI()

◆ readQCurrentP()

◆ readRegister()

◆ readSpeedD()

◆ readSpeedI()

◆ readSpeedP()

◆ readStatus()

◆ reboot()

◆ resetAllRegisters()

◆ resetPID()

◆ resetRegister()

◆ runAtVelocity()

◆ runAtVelocityRpm()

◆ runForward()

◆ runReverse()

◆ safeRun()

◆ saveAllRegisters()

◆ speed()

◆ speedD()

◆ speedI()

◆ speedP()

◆ speedRpm()

◆ startIMUMeasurement()

◆ startMotorMeasurement()

◆ stop()

◆ stopIMUMeasurement()