AsgWithMeasuredTorque.cpp

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/*
 * Title: AsgWithMeasuredTorque
 *
 * Objective:
 *    This example demonstrates how to configure and read the High-Level
 *    Feedback output mode "ASG-Position with Measured Torque" or "ASG-Velocity
 *    with Measured Torque" from a ClearPath motor.
 *
 *    Note: There are two different versions of the ASG with Measured Torque
 *    HLFB mode, one for Position modes and one for Velocity modes. See the
 *    ClearPath MC/SD manual for a full description of all HLFB modes.
 *
 * Description:
 *    This example reads the state of an attached ClearPath motor's HLFB output
 *    in All Systems Go with Measured Torque mode. During operation, the state
 *    of the HLFB is written to the USB serial port.
 *
 *    This example does not enable the motor or command any motion. Use the
 *    Motion Generator in MSP to easily exercise the full features of this
 *    example and see HLFB change state and give a torque measurement.
 *
 * Requirements:
 * 1. A ClearPath motor must be connected to Connector M-0.
 * 2. To command motion, the connected ClearPath motor must be configured for
 *    the Motion Generator mode through the MSP software (In MSP select Mode>>
 *    Motion Generator).
 * 3. The connected ClearPath motor must have its HLFB mode set to ASG with
 *    measured torque through the MSP software (select Advanced>>High Level
 *    Feedback [Mode]... then choose "ASG-Position, w/Measured Torque" or
 *    "ASG-Velocity, w/ Measured Torque" and hit the OK button).
 *    Select a 482 Hz PWM Carrier Frequency in this menu.
 *
 * Links:
 * ** ClearCore Documentation: https://teknic-inc.github.io/ClearCore-library/
 * ** ClearCore Manual: https://www.teknic.com/files/downloads/clearcore_user_manual.pdf
 *
 * 
 * Copyright (c) 2020 Teknic Inc. This work is free to use, copy and distribute under the terms of
 * the standard MIT permissive software license which can be found at https://opensource.org/licenses/MIT
 */
 
#include "ClearCore.h"
 
// Specify which motor to move.
// Options are: ConnectorM0, ConnectorM1, ConnectorM2, or ConnectorM3.
#define motor ConnectorM0
 
// Select the baud rate to match the target serial device
#define baudRate 9600
 
// Specify which serial to use: ConnectorUsb, ConnectorCOM0, or ConnectorCOM1.
#define SerialPort ConnectorUsb
 
int main() {
    // Put the motor connector into the HLFB mode to read bipolar PWM (the
    // correct mode for ASG w/ Measured Torque)
    motor.HlfbMode(MotorDriver::HLFB_MODE_HAS_BIPOLAR_PWM);
    // Set the HFLB carrier frequency to 482 Hz
    motor.HlfbCarrier(MotorDriver::HLFB_CARRIER_482_HZ);
 
    // Set up serial communication and wait up to 5 seconds for a port to open
    // HLFB states are written to the serial port
    SerialPort.Mode(Connector::USB_CDC);
    SerialPort.Speed(baudRate);
    uint32_t timeout = 5000;
    uint32_t startTime = Milliseconds();
    SerialPort.PortOpen();
    while (!SerialPort && Milliseconds() - startTime < timeout) {
        continue;
    }
 
    while (true) {
        SerialPort.Send("HLFB state: ");
 
        // Check the current state of the ClearPath's HLFB.
        MotorDriver::HlfbStates hlfbState = motor.HlfbState();
 
        // Write the HLFB state to the serial port
        if (hlfbState == MotorDriver::HLFB_HAS_MEASUREMENT) {
            // Writes the torque measured, as a percent of motor peak torque rating
            SerialPort.Send(int8_t(round(motor.HlfbPercent())));
            SerialPort.SendLine("% torque");
        }
        else if (hlfbState == MotorDriver::HLFB_ASSERTED) {
            // Asserted indicates either "Move Done" for position modes, or
            // "At Target Velocity" for velocity moves
            SerialPort.SendLine("ASSERTED");
        }
        else {
            SerialPort.SendLine("DISABLED or SHUTDOWN");
        }
 
        // Wait before reading HLFB again
        Delay_ms(500);
    }
}