ClearCore::Connector Class Reference

Detailed Description

Base class for interacting with all ClearCore connector objects.

This virtual class defines the common functionality for a connector object.

It provides a generic interface that all connectors have. This includes

• Connector Type
• Generic integer "state"
• A Refresh function to force the reading of the underlying information and perform ancillary work such as scheduling and LED display update.

For more detailed information on the ClearCore Connector interface, check out the ClearCore Connector System informational page.

Base class for interacting with all ClearCore connector objects. More...

#include <Connector.h>

Inheritance diagram for ClearCore::Connector:

Public Types
enum	ConnectorModes {   INVALID_NONE , INPUT_ANALOG , INPUT_DIGITAL , OUTPUT_ANALOG ,   OUTPUT_DIGITAL , OUTPUT_H_BRIDGE , OUTPUT_PWM , OUTPUT_TONE ,   OUTPUT_WAVE , CPM_MODE_A_DIRECT_B_DIRECT , CPM_MODE_STEP_AND_DIR , CPM_MODE_A_DIRECT_B_PWM ,   CPM_MODE_A_PWM_B_PWM , TTL , RS232 , SPI ,   CCIO , USB_CDC }
	All possible operational modes for a connector. More...
enum	ConnectorTypes {   DIGITAL_IN_TYPE , DIGITAL_IN_OUT_TYPE , SHIFT_REG_TYPE , ANALOG_IN_DIGITAL_IN_TYPE ,   ANALOG_OUT_DIGITAL_IN_OUT_TYPE , H_BRIDGE_TYPE , CPM_TYPE , SERIAL_TYPE ,   SERIAL_USB_TYPE , CCIO_DIGITAL_IN_OUT_TYPE }
	The different types of ClearCore connectors. More...

Public Member Functions
virtual ConnectorModes	Mode ()
	Get the connector's operational mode.
virtual bool	Mode (ConnectorModes newMode)=0
	Set the connector's operational mode.
virtual ConnectorTypes	Type ()=0
	Get the connector type.
virtual bool	IsWritable ()=0
	Determine whether values can be written to this connector.
void	Reinitialize ()
	Reinitialize this connector to the power-up state.
int32_t	ConnectorIndex ()
	Accessor for the bit index of this connector in the input register.
virtual int16_t	State ()=0
	Get the connector's last sampled value.
virtual bool	State (int16_t newState)=0
	Set the state of a R/W connector.
virtual bool	IsInHwFault ()=0
	Get whether the connector is in a hardware fault state.
uint32_t	InputRegMask ()
	Get a bit mask representing this connector.

Member Enumeration Documentation

ConnectorModes

enum ClearCore::Connector::ConnectorModes

All possible operational modes for a connector.

Note

Each type of connector supports only a limited subset of these modes.

Enumerator
INVALID_NONE	[0] An invalid default mode.
INPUT_ANALOG	[1] Analog input mode. Note This is the default mode setting for connectors A-9 through A-12.
INPUT_DIGITAL	[2] Digital input mode. Note This is the default mode setting for connectors IO-0 through DI-8, and all pins on attached CCIO-8 expansion boards.
OUTPUT_ANALOG	[3] Analog current source output mode.
OUTPUT_DIGITAL	[4] Digital output mode.
OUTPUT_H_BRIDGE	[5] H-Bridge mode, using differential PWM output.
OUTPUT_PWM	[6] Periodic digital output mode, using pulse-width modulation (PWM)
OUTPUT_TONE	[7] Tone generation mode, using H-Bridge's differential PWM output with tone generation features enabled.
OUTPUT_WAVE	[8] Audio generation mode, playing a wave file from a flash drive.
CPM_MODE_A_DIRECT_B_DIRECT	[9] ClearPath™ motor controller mode, compatible with operational modes that require user's direct control of the A and B input signals.
CPM_MODE_STEP_AND_DIR	[10] ClearPath™ motor controller mode, compatible with Step and Direction operational modes.
CPM_MODE_A_DIRECT_B_PWM	[11] ClearPath™ motor controller mode, compatible with operational modes where A is controlled by the user directly and B is controlled with a PWM signal (e.g., the Follow Digital Torque, Velocity, and/or Position commands).
CPM_MODE_A_PWM_B_PWM	[12] ClearPath™ motor controller mode, compatible with Follow Digital Velocity: Bipolar PWM Command with Variable Torque operational mode where both inputs A and B are controlled with PWM signals.
TTL	[13] Serial port mode, using standard TTL levels compatible with USB Serial Bridges.
RS232	[14] Serial port mode, using inverted TTL levels to allow direct RS232 connections for ports tolerant of the lack of negative voltages.
SPI	[15] Serial port mode, using the port in SPI mode for connections to serial devices using this format.
CCIO	[16] Serial port mode for CCIO-8 connections.
USB_CDC	[17] Serial port mode for USB.

ConnectorTypes

enum ClearCore::Connector::ConnectorTypes

The different types of ClearCore connectors.

Enumerator
DIGITAL_IN_TYPE	[0] Digital input connector. This connector has the following features: Optional majority filtering TTL or 24V input compatibility Connectors of this type: ConnectorDI6 ConnectorDI7 ConnectorDI8
DIGITAL_IN_OUT_TYPE	[1] Digital input/output connector. This connector has the following features: Optional majority input filtering TTL or 24V input compatibility High power digital output Connectors of this type: ConnectorIO1 ConnectorIO2 ConnectorIO3
SHIFT_REG_TYPE	[2] Virtual connector to access LED and configuration shift register
ANALOG_IN_DIGITAL_IN_TYPE	[3] Analog and digital input connector. This connector supports the following features: Optional majority input filtering TTL or 24V input compatibility 0-10V analog input measurements Connectors of this type: ConnectorA9 ConnectorA10 ConnectorA11 ConnectorA12
ANALOG_OUT_DIGITAL_IN_OUT_TYPE	[4] Digital input/output and analog output connector. This connector supports the following features: Optional majority input filtering TTL or 24V input compatibility High power digital output 0-20mA analog current output Connectors of this type: ConnectorIO0
H_BRIDGE_TYPE	[5] H-Bridge connector. Utilizing V+ and IO pin as a pair these connectors can be setup to: Drive a motor Create tones to drive a speaker Create bi-directional output via PWM Connectors of this type: ConnectorIO4 ConnectorIO5 See also DIGITAL_IN_OUT_TYPE
CPM_TYPE	[6] ClearPath™ motor connector. This connector can control a ClearPath™ motor. Some of the control abilities available include: Motor Enable Step+Direction Move Generation Control of the A and B inputs for use with the MC models. Reading of the HLFB from ClearPath motors. Connectors of this type: ConnectorM0 ConnectorM1 ConnectorM2 ConnectorM3
SERIAL_TYPE	[7] Serial port connector. These connectors can: be used as asynchronous serial ports with selectable baud rate and data formats. be used as SPI master ports. Connectors of this type: ConnectorCOM0 ConnectorCOM1
SERIAL_USB_TYPE	[8] Serial USB connector. These connectors can: be used as asynchronous serial ports. Connectors of this type: ConnectorUsb
CCIO_DIGITAL_IN_OUT_TYPE	[9] ClearCore I/O Expansion Board digital I/O connector. This connector has the following features: Optional majority input filtering TTL or 24V input compatibility

Member Function Documentation

ConnectorIndex()

int32_t ClearCore::Connector::ConnectorIndex ( )

inline

Accessor for the bit index of this connector in the input register.

// Save IO-1's index for future use
int32_t io1Index = ConnectorIO1.ConnectorIndex();

Returns

The connector bit index in the input register

InputRegMask()

uint32_t ClearCore::Connector::InputRegMask ( )

inline

Get a bit mask representing this connector.

// Create a SysConnectorState mask to check IO-1
SysConnectorState stateMask(ConnectorIO1.InputRegMask());
 
// Save whether IO-1 has risen
SysConnectorState risenInputs = InputMgr.InputsRisen(stateMask);

Returns

A 32-bit mask of 0's, with a single 1 at the bit position of this connector's index. (See ClearCorePins to determine connector indices.)

IsInHwFault()

virtual bool ClearCore::Connector::IsInHwFault ( )

pure virtual

Get whether the connector is in a hardware fault state.

if (ConnectorIO1.IsInHwFault()) {
    // IO-1 is in a fault state
}

Returns

True if the connector is in fault; false otherwise.

Implemented in ClearCore::CcioPin, ClearCore::DigitalInOut, and ClearCore::MotorDriver.

IsWritable()

virtual bool ClearCore::Connector::IsWritable ( )

pure virtual

Determine whether values can be written to this connector.

if (!ConnectorIO1.IsWritable()) {
    // IO-1 is not currently set as an output
}

Returns

true if this connector is writable, false if this connector is read-only.

Implemented in ClearCore::CcioPin, ClearCore::DigitalIn, ClearCore::DigitalInAnalogIn, ClearCore::DigitalInOut, ClearCore::DigitalInOutAnalogOut, ClearCore::DigitalInOutHBridge, ClearCore::LedDriver, ClearCore::MotorDriver, ClearCore::SerialDriver, and ClearCore::SerialUsb.

Mode() [1/2]

virtual ConnectorModes ClearCore::Connector::Mode ( )

inlinevirtual

Get the connector's operational mode.

if (ConnectorIO0.Mode() == Connector::OUTPUT_ANALOG) {
    // IO-0 is currently an analog output.
}

Returns

The connector's current operational mode.

Reimplemented in ClearCore::CcioPin, ClearCore::DigitalIn, ClearCore::DigitalInAnalogIn, ClearCore::DigitalInOut, ClearCore::DigitalInOutAnalogOut, ClearCore::DigitalInOutHBridge, ClearCore::MotorDriver, ClearCore::SerialDriver, and ClearCore::SerialUsb.

Mode() [2/2]

virtual bool ClearCore::Connector::Mode ( ConnectorModes  newMode )

pure virtual

Set the connector's operational mode.

// Set IO-0's mode to be an analog output
ConnectorIO0.Mode(Connector::OUTPUT_ANALOG);

Parameters

[in]

newMode

The new mode to be set.

Returns

Returns false if the mode is invalid or setup fails.

Implemented in ClearCore::CcioPin, ClearCore::DigitalIn, ClearCore::DigitalInAnalogIn, ClearCore::DigitalInOut, ClearCore::DigitalInOutAnalogOut, ClearCore::DigitalInOutHBridge, ClearCore::SerialDriver, and ClearCore::SerialUsb.

Reinitialize()

void ClearCore::Connector::Reinitialize ( )

inline

Reinitialize this connector to the power-up state.

// IO-1 needs to be re-initialized
ConnectorIO1.Reinitialize();

Note

Connectors IO-0 through DI-8 and all CCIO-8 connectors will be set into INPUT_DIGITAL mode, while connectors A-9 through A-12 will be set into INPUT_ANALOG mode, the default modes for these connectors.

State() [1/2]

virtual int16_t ClearCore::Connector::State ( )

pure virtual

Get the connector's last sampled value.

Return the current "value" for this connector. For connectors with more than one input or output the value returned here would depend on the specific connector. Access to this information would need to be provided by the implementation object.

For boolean items, this will return the values of C++ true and false. For analog items, this could be the RAW or processed ADC value, etc.

if (ConnectorIO0.State()) {
    // IO-0's input is currently high
}

Returns

The latest sample.

Implemented in ClearCore::CcioPin, ClearCore::DigitalIn, ClearCore::DigitalInAnalogIn, ClearCore::DigitalInOut, ClearCore::DigitalInOutAnalogOut, ClearCore::DigitalInOutHBridge, and ClearCore::LedDriver.

State() [2/2]

virtual bool ClearCore::Connector::State ( int16_t  newState )

pure virtual

Set the state of a R/W connector.

For read-write objects, this allows you to change the state of the connector item.

// Set IO-0's output to high
ConnectorIO0.State(1);

Parameters

[in]

newState

For mutable items, update the output.

Implemented in ClearCore::CcioPin, ClearCore::DigitalInOut, ClearCore::DigitalInOutAnalogOut, ClearCore::DigitalInOutHBridge, and ClearCore::LedDriver.

Type()

virtual ConnectorTypes ClearCore::Connector::Type ( )

pure virtual

Get the connector type.

if (ConnectorIO1.Type() == DIGITAL_IN_OUT_TYPE) {
    // IO-1 is a DigitalInOut
}

Returns

Return the connector type for generic handling of connectors.

Implemented in ClearCore::CcioPin, ClearCore::DigitalIn, ClearCore::DigitalInAnalogIn, ClearCore::DigitalInOut, ClearCore::DigitalInOutAnalogOut, ClearCore::DigitalInOutHBridge, ClearCore::LedDriver, ClearCore::MotorDriver, ClearCore::SerialDriver, and ClearCore::SerialUsb.

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

• Connector.h