ClearCore::MotorDriver Class Reference

Detailed Description

ClearCore motor connector class.

This class manages a motor connector on the ClearCore board.

The following connector instances support motor functionality:

• ConnectorM0
• ConnectorM1
• ConnectorM2
• ConnectorM3

For more detailed information on the ClearCore Motor Control and Motion Generation systems, check out the Motor Control System and Step and Direction Control informational pages.

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

ClearCore motor connector class. More...

#include <MotorDriver.h>

Inheritance diagram for ClearCore::MotorDriver:

Collaboration diagram for ClearCore::MotorDriver:

Classes
union	AlertRegMotor
	Accumulating register of alerts that have occurred on this motor. Intended for use in Step and Direction mode. More...
union	PolarityInversionsSD
	A small register with bit and field views. This allows easy configuration for steppers that use an inverted signal on one of the main input signals. See PolarityInvertSDEnable(bool invert), PolarityInvertSDDirection(bool invert), and PolarityInvertSDHlfb(bool invert). More...
union	StatusRegMotor
	Register access for information about the motor's operating status. Intended for use in Step and Direction mode. More...

Public Types
enum	HlfbStates { HLFB_DEASSERTED , HLFB_ASSERTED , HLFB_HAS_MEASUREMENT , HLFB_UNKNOWN }
	Return state when HLFB state is requested. More...
enum	HlfbModes { HLFB_MODE_STATIC , HLFB_MODE_HAS_PWM , HLFB_MODE_HAS_BIPOLAR_PWM }
	Setup the HLFB query to match the ClearPath™ Motor's HLFB signaling format. More...
enum	HlfbCarrierFrequency { HLFB_CARRIER_45_HZ , HLFB_CARRIER_482_HZ }
	High-Level Feedback (HLFB) carrier frequency: 45 Hz or 482 Hz.
enum	MotorReadyStates {   MOTOR_DISABLED = 0 , MOTOR_ENABLING , MOTOR_FAULTED , MOTOR_READY ,   MOTOR_MOVING }
	Motor readiness states. More...
Public Types inherited from ClearCore::DigitalIn
enum	FilterUnits { FILTER_UNIT_MS , FILTER_UNIT_SAMPLES }
	Units for the digital filter length. More...
Public Types inherited from ClearCore::Connector
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 Types inherited from ClearCore::StepGenerator
enum	MoveTarget { MOVE_TARGET_ABSOLUTE , MOVE_TARGET_REL_END_POSN }

Public Member Functions
bool	ValidateMove (bool negDirection)
virtual bool	Move (int32_t dist, MoveTarget moveTarget=MOVE_TARGET_REL_END_POSN) override
	Issues a positional move for the specified distance.
virtual bool	MoveVelocity (int32_t velocity) override
	Issues a velocity move at the specified velocity.
void	HlfbFilterLength (uint16_t samples)
	Sets the filter length in samples. The default is 3 samples.
Connector::ConnectorTypes	Type () override
	Get connector type.
bool	IsWritable () override
	Get R/W status of the connector.
bool	MotorInAState ()
	Accessor for the state of the motor's Input A.
bool	MotorInAState (bool value)
	Function to set the state of the motor's Input A.
bool	MotorInBState ()
	Accessor for the state of the motor's Input B.
bool	MotorInBState (bool value)
	Function to set the value of the motor's Input B.
bool	EnableRequest ()
	Accessor for the enable request state of the motor.
void	EnableRequest (bool value)
	Function to request the motor to enable or disable.
bool	MotorInADuty (uint8_t duty)
	Function to set the duty cycle of a PWM signal being sent to the motor's Input A.
bool	MotorInBDuty (uint8_t duty)
	Function to set the duty cycle of a PWM signal being sent to the motor's Input B.
void	EnableTriggerPulse (uint16_t pulseCount=1, uint32_t time_ms=DEFAULT_TRIGGER_PULSE_WIDTH_MS, bool blockUntilDone=false)
	Sends trigger pulse(s) to a connected ClearPath™ motor by de-asserting the enable signal for time_ms milliseconds.
volatile const bool &	EnableTriggerPulseActive ()
	Check to see if enable trigger pulses are actively being sent.
volatile const HlfbStates &	HlfbState ()
	Return the latest HLFB state information.
volatile const float &	HlfbPercent ()
	Returns the percent of Peak Torque/Max Speed based on the current HLFB PWM duty cycle.
void	HlfbMode (HlfbModes newMode)
	Sets operational mode of the HLFB to match up with the HLFB configuration of a ClearPath™ motor.
HlfbModes	HlfbMode ()
	Accessor for current HLFB operational mode.
bool	HlfbHasRisen ()
	Clear on read accessor for HLFB rising edge detection.
bool	HlfbHasFallen ()
	Clear on read accessor for HLFB falling edge detection.
bool	HlfbCarrier (HlfbCarrierFrequency freq)
	Set the HLFB carrier frequency signal.
HlfbCarrierFrequency	HlfbCarrier ()
	This motor's HLFB carrier frequency.
bool	IsInHwFault () override
	Check whether the connector is in a hardware fault state.
volatile const StatusRegMotor &	StatusReg ()
	Accessor for the current Motor Status Register.
StatusRegMotor	StatusRegRisen ()
	Clear on read accessor for Motor Status Register rising edge detection.
StatusRegMotor	StatusRegFallen ()
	Clear on read accessor for Motor Status Register falling edge detection.
volatile const AlertRegMotor &	AlertReg ()
	Accessor for the current Motor Alert Register.
void	ClearAlerts (uint32_t mask=UINT32_MAX)
	Clear the Motor Alert Register. Motion will be prevented if any Alert Register bits are set.
bool	PolarityInvertSDEnable (bool invert)
	Function to invert the default polarity of the enable signal of this motor.
bool	PolarityInvertSDDirection (bool invert)
	Function to invert the default polarity of the direction signal of this motor.
bool	PolarityInvertSDHlfb (bool invert)
	Function to invert the default polarity of the HLFB signal of this motor.
bool	BrakeOutput (ClearCorePins pin)
	Set the associated brake output connector.
ClearCorePins	BrakeOutput ()
	Get the associated brake output connector.
bool	LimitSwitchPos (ClearCorePins pin)
	Set the associated positive limit switch connector.
ClearCorePins	LimitSwitchPos ()
	Get the associated positive limit switch output connector.
bool	LimitSwitchNeg (ClearCorePins pin)
	Set the associated negative limit switch connector.
ClearCorePins	LimitSwitchNeg ()
	Get the associated negative limit switch output connector.
virtual ConnectorModes	Mode () override
	Get the connector's operational mode.
bool	EnableConnector (ClearCorePins pin)
ClearCorePins	EnableConnector ()
bool	InputAConnector (ClearCorePins pin)
ClearCorePins	InputAConnector ()
bool	InputBConnector (ClearCorePins pin)
ClearCorePins	InputBConnector ()
bool	EStopConnector (ClearCorePins pin)
ClearCorePins	EStopConnector ()
bool	HlfbInputStatus ()
void	EnableActiveLevel (bool activeLevel)
bool	EnableActiveLevel ()
void	HlfbActiveLevel (bool activeLevel)
bool	HlfbActiveLevel ()
Public Member Functions inherited from ClearCore::DigitalIn
void	FilterLength (uint16_t length, FilterUnits units=FILTER_UNIT_SAMPLES)
	Set the connector's digital transition filter length. The default digital filter length for digital input connectors is 3 samples.
uint16_t	FilterLength ()
	Get the connector's digital filter length in samples. The default is 3 samples.
int16_t	State () override
	Get the connector's last majority-filtered sampled value.
bool	InputRisen ()
	Clear on read accessor for this connector's rising input state.
bool	InputFallen ()
	Clear on read accessor for this connector's falling input state.
bool	InterruptHandlerSet (voidFuncPtr callback=nullptr, InputManager::InterruptTrigger trigger=InputManager::InterruptTrigger::RISING, bool enable=true)
	Register the interrupt service routine to be triggered when the given input state condition is met on this connector.
void	InterruptEnable (bool enable)
	Enable or disable the interrupt on this connector.
Public Member Functions inherited from ClearCore::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 bool	State (int16_t newState)=0
	Set the state of a R/W connector.
uint32_t	InputRegMask ()
	Get a bit mask representing this connector.
Public Member Functions inherited from ClearCore::StepGenerator
void	MoveStopAbrupt ()
void	MoveStopDecel (uint32_t decelMax=0)
void	PositionRefSet (int32_t posn)
	Sets the absolute commanded position to the given value.
volatile const int32_t &	PositionRefCommanded ()
	Accessor for the StepGenerator's position reference.
int32_t	VelocityRefCommanded ()
	Accessor for the StepGenerator's momentary velocity.
void	VelMax (uint32_t velMax)
	Sets the maximum velocity for position moves, in step pulses per second.
void	AccelMax (uint32_t accelMax)
	Sets the maximum acceleration in step pulses per second^2.
void	EStopDecelMax (uint32_t decelMax)
	Sets the maximum deceleration for E-stop Deceleration in step pulses per second^2. This is only for MoveStopDecel.
bool	StepsComplete ()
	Function to check if no steps are currently being commanded to the motor.
bool	CruiseVelocityReached ()
	Function to check if the commanded move is at the cruising velocity - Acceleration portion of movement has finished.

Static Public Attributes
static const int16_t	HLFB_DUTY_UNKNOWN = -9999

Member Enumeration Documentation

HlfbModes

enum ClearCore::MotorDriver::HlfbModes

Setup the HLFB query to match the ClearPath™ Motor's HLFB signaling format.

Enumerator
HLFB_MODE_STATIC	Use the current digital state of the HLFB input. Note Applicable ClearPath HLFB modes: Servo On In Range All Systems Go (ASG) ASG - Latched
HLFB_MODE_HAS_PWM	The HLFB signal may have a 0-100% PWM component. If HLFB_HAS_MEASUREMENT occurred since the last query, invoke the HlfbPercent() function to get the last period measured. Note If there is no more PWM signaling the HlfbState() function will return the digital state until another PWM is signaled. Applicable ClearPath HLFB modes: Speed Output
HLFB_MODE_HAS_BIPOLAR_PWM	The HLFB signal may have a -100% to +100% PWM component. If HLFB_HAS_MEASUREMENT occurred since the last query, invoke the HlfbPercent() function to get the last period measured. Note If there is no more PWM signaling the HlfbState() function will return the digital state until another PWM is signaled. Applicable ClearPath HLFB modes: Measured Torque ASG - w/Measured Torque ASG - Latched - w/Measured Torque

HlfbStates

enum ClearCore::MotorDriver::HlfbStates

Return state when HLFB state is requested.

See also

HlfbMode for setting operational mode of HLFB to accommodate PWM measurement modes versus static state modes.

Enumerator
HLFB_DEASSERTED	HLFB is de-asserted.
HLFB_ASSERTED	HLFB is asserted.
HLFB_HAS_MEASUREMENT	For HLFB with PWM modes, this would signal that the HlfbPercent function has a new update.
HLFB_UNKNOWN	Unknown state

MotorReadyStates

enum ClearCore::MotorDriver::MotorReadyStates

Motor readiness states.

Note

This is a field in the StatusRegMotor.

Enumerator
MOTOR_DISABLED	The motor is not enabled.
MOTOR_ENABLING	The motor is in the process of enabling.
MOTOR_FAULTED	The motor is enabled and not moving, but HLFB is not asserted.
MOTOR_READY	The motor is enabled and HLFB is not deasserted (asserted or has PWM).
MOTOR_MOVING	The motor is enabled and moving.

Member Function Documentation

AlertReg()

volatile const AlertRegMotor & ClearCore::MotorDriver::AlertReg ( )

inline

Accessor for the current Motor Alert Register.

if (ConnectorM0.AlertReg().bit.MotionCanceledMotorDisabled) {
    // Motion on M-0 was canceled because the motor was disabled
}

BrakeOutput() [1/2]

ClearCorePins ClearCore::MotorDriver::BrakeOutput ( )

inline

Get the associated brake output connector.

Brake output mode uses HLFB readings from a connected ClearPath motor to energize or de-energize a connected brake. HLFB must be configured for either "ASG with Measured Torque" or "Servo On" for the automatic brake to function correctly. The motor connectors M-0 through M-3 can be mapped to any of the ClearCore outputs IO-0 through IO-5, or to any attached CCIO-8 output pin.

if (ConnectorM0.BrakeOutput() == CLEARCORE_PIN_IO2) {
    // M-0's brake output is currently set to IO-2 and enabled.
}

if (ConnectorM0.BrakeOutput() == CLEARCORE_PIN_INVALID) {
    // M-0's brake output is currently disabled.
}

Returns

The pin representing the digital output connector configured to be this motor's brake output, or CLEARCORE_PIN_INVALID if no such connector has been configured.

BrakeOutput() [2/2]

bool ClearCore::MotorDriver::BrakeOutput

(

ClearCorePins

pin

)

Set the associated brake output connector.

Brake output mode uses HLFB readings from a connected ClearPath motor to energize or de-energize a connected brake. HLFB must be configured for either "ASG with Measured Torque" or "Servo On" for the automatic brake to function correctly. The motor connectors M-0 through M-3 can be mapped to any of the ClearCore outputs IO-0 through IO-5, or to any attached CCIO-8 output pin.

Note

ClearCore will energize (disengage) the brake when the configured motor is enabled AND the HLFB reading of that motor is NOT deasserted.

// First configure IO-2 to be a digital output
ConnectorIO2.Mode(Connector::OUTPUT_DIGITAL); // Arduino: pinMode(IO2, OUTPUT);
if (ConnectorM0.BrakeOutput(CLEARCORE_PIN_IO2)) {
    // M-0's brake output is now set to IO-2 and enabled.
}

if (ConnectorM0.BrakeOutput(CLEARCORE_PIN_INVALID)) {
    // M-0's brake output is now disabled.
}

Parameters

[in]

pin

The pin representing the connector to use as the brake output for this motor. If CLEARCORE_PIN_INVALID is supplied, brake output is disabled.

Returns

True if the brake output was successfully set and enabled, or successfully disabled; false if a pin other than CLEARCORE_PIN_INVALID was supplied that isn't a valid digital output pin.

ClearAlerts()

void ClearCore::MotorDriver::ClearAlerts ( uint32_t  mask = UINT32_MAX )

inline

Clear the Motor Alert Register. Motion will be prevented if any Alert Register bits are set.

// Clear any alerts that have accumulated for M-0.
ConnectorM0.ClearAlerts();

EnableActiveLevel() [1/2]

bool ClearCore::MotorDriver::EnableActiveLevel ( )

inline

Get the active level for the Enable signal. The default is active low.

Returns

True if the enable signal is configured to be active high; false if configured to be active low.

EnableActiveLevel() [2/2]

void ClearCore::MotorDriver::EnableActiveLevel ( bool  activeLevel )

inline

Set the active level for the Enable signal. The default is active low.

Parameters

[in]

activeLevel

True for active high; false for active low.

EnableConnector() [1/2]

ClearCorePins ClearCore::MotorDriver::EnableConnector ( )

inline

Get the digital input connector used to control the state of the enable signal.

if (ConnectorM0.EnableConnector() == CLEARCORE_PIN_DI8) {
    // Connector DI-8 is currently configured to control the enable
    // signal for motor M-0.
}

Returns

The pin representing the digital input connector configured to control this motor's enable signal, or CLEARCORE_PIN_INVALID if no such connector has been configured.

EnableConnector() [2/2]

bool ClearCore::MotorDriver::EnableConnector

(

ClearCorePins

pin

)

Set the digital input connector used to control the state of the enable signal.

if (ConnectorM0.EnableConnector(CLEARCORE_PIN_DI6)) {
    // Connector DI-6 was successfully configured to control the enable
    // signal for motor M-0.
}

Parameters

[in]

pin

The pin representing the digital input connector that will control the state of this motor's enable signal.

Returns

True if the enable connector was configured successfully.

EnableRequest() [1/2]

bool ClearCore::MotorDriver::EnableRequest ( )

inline

Accessor for the enable request state of the motor.

// Save the state of M-0's enable line
bool enableState = ConnectorM0.EnableRequest();

Returns

The current state of the motor's Enable input

Examples

EncoderInputExamples/FollowEncoder/FollowEncoder.cpp, and FollowEncoder.cpp.

EnableRequest() [2/2]

void ClearCore::MotorDriver::EnableRequest

(

bool

value

)

Function to request the motor to enable or disable.

// Send an enable request to M-0's ClearPath motor
ConnectorM0.EnableRequest(true);

Note

Any active step and direction moves on this MotorDriver connector will be terminated if value is false.

Parameters

[in]

value

The boolean state to be passed to the motor's Enable input

EnableTriggerPulse()

void ClearCore::MotorDriver::EnableTriggerPulse	(	uint16_t	pulseCount = 1,
		uint32_t	time_ms = DEFAULT_TRIGGER_PULSE_WIDTH_MS,
		bool	blockUntilDone = false
	)

Sends trigger pulse(s) to a connected ClearPath™ motor by de-asserting the enable signal for time_ms milliseconds.

The pulse duration (time_ms) must be within the Trigger Pulse range set in the MSP software. The default trigger pulse will not suffice if not changed within MSP. If the pulse duration is too short, the pulse will be ignored. If the pulse duration is too long, the motor will momentarily disable.

This function can be used with the following ClearPath™ operating modes:

• Move Incremental Distance
• Pulse Burst Positioning
• Multiple Sensor Positioning

// Send a single trigger pulse of 25ms on M-0's enable that blocks
// further code execution until the pulse is finished.
ConnectorM0.EnableTriggerPulse(1, 25, true);

Note

The time specified by time_ms is checked at the SysTick rate.

If the motor EnableRequest is false when this function is called, the function will return without doing anything.

time_ms specifies both the asserted and de-asserted pulse widths. The total time for sending the pulses is 2 * pulseCount * time_ms.

Parameters

[in]	pulseCount	(optional) The number of times to pulse the enable signal. Default: 1.
[in]	time_ms	(optional) The amount of time to pull the enable signal low, in milliseconds. Default: DEFAULT_TRIGGER_PULSE_WIDTH_MS.
[in]	blockUntilDone	(optional) If true, block further code execution until the pulses have finished being sent. Default: false.

EnableTriggerPulseActive()

volatile const bool & ClearCore::MotorDriver::EnableTriggerPulseActive ( )

inline

Check to see if enable trigger pulses are actively being sent.

When using the non-blocking option of EnableTriggerPulse, this function allows you to check if the trigger pulse sequence is still being sent.

// Begin a train of five pulses on M-0's enable that do not block
// further code execution until the pulse train is finished.
ConnectorM0.EnableTriggerPulse(5);
// Perform other processing here that does not have to wait for the
// trigger pulses to be sent...
 
while (ConnectorM0.EnableTriggerPulseActive()) {
    continue;   // Wait for the trigger pulses to be sent
}
// Trigger pulses have all been sent.
// Now it is safe to change inputs, etc.

EStopConnector() [1/2]

ClearCorePins ClearCore::MotorDriver::EStopConnector ( )

inline

Get the digital input connector used to control the E-Stop input for this motor.

if (ConnectorM0.EStopConnector() == CLEARCORE_PIN_DI6) {
    // Connector DI-6 is currently configured as an E-Stop input for
    // motor M-0.
}

Returns

The Pin representing the digital input connector configured as an E-Stop input for this motor, or CLEARCORE_PIN_INVALID if no such connector has been configured.

For use with Step and Direction mode.

EStopConnector() [2/2]

bool ClearCore::MotorDriver::EStopConnector

(

ClearCorePins

pin

)

Set the digital input connector used as an E-Stop signal.

if (ConnectorM0.EStopConnector(CLEARCORE_PIN_DI6)) {
    // Connector DI-6 was successfully configured to act as an E-Stop
    // input signal for motor M-0.
}

Note

The input configured as an E-Stop must be Normally Closed (NC) to function correctly with this feature.

If motion is commanded in any direction and the configured input is de-asserted, the specified motor will be commanded to decelerate immediatley (at the greater deceleration rate of EStopDecelMax or AccelMax)

Next, the MotionCanceledSensorEStop alert will be set to TRUE. Any alerts will prevent further motion (in any direction) until cleared.

Attention

To recover from an E-Stop:

1. Ensure you are not activley commanding any further motion. Any new motion command in any direction will cause the alert to persist or reappear (even commanding 0 velocity or commanding to hold the current position).
2. Use ClearAlerts() to clear the alerts register. This allows further motion to be commanded.

Parameters

[in]

pin

The pin representing the digital input connector that will act as an E-Stop signal for this motor.

Returns

True if the E-Stop connector was configured successfully.

For use with Step and Direction mode.

HlfbActiveLevel() [1/2]

bool ClearCore::MotorDriver::HlfbActiveLevel ( )

inline

Get the active level for the HLFB signal. The default is active high.

Returns

True if the HLFB signal is configured to be active high; false if configured to be active low.

HlfbActiveLevel() [2/2]

void ClearCore::MotorDriver::HlfbActiveLevel ( bool  activeLevel )

inline

Set the active level for the HLFB signal. The default is active high.

Parameters

[in]

activeLevel

True for active high; false for active low.

HlfbCarrier() [1/2]

HlfbCarrierFrequency ClearCore::MotorDriver::HlfbCarrier ( )

inline

This motor's HLFB carrier frequency.

// Do work that depends on the current HLFB carrier frequency
switch (ConnectorM0.HlfbCarrier()) {
    case MotorDriver::HLFB_CARRIER_45_HZ:
        // Slow HLFB carrier. Do something.
        break;
    case MotorDriver::HLFB_CARRIER_482_HZ:
    default:
        // Fast HLFB carrier. Do something else.
        break;
}

Returns

The HLFB carrier frequency.

HlfbCarrier() [2/2]

bool ClearCore::MotorDriver::HlfbCarrier ( HlfbCarrierFrequency  freq )

inline

Set the HLFB carrier frequency signal.

// Set motor M-0 to use the higher HFLB carrier frequency (482 Hz)
ConnectorM0.HlfbCarrier(MotorDriver::HLFB_CARRIER_482_HZ);

Returns

True if the HLFB carrier frequency was correctly set

Examples

EncoderInputExamples/FollowEncoder/FollowEncoder.cpp, and FollowEncoder.cpp.

HlfbFilterLength()

void ClearCore::MotorDriver::HlfbFilterLength ( uint16_t  samples )

inline

Sets the filter length in samples. The default is 3 samples.

Restarts any in progress filtering.

// Set M-0's HLFB filter to 5 samples (1ms)
ConnectorM0.HlfbFilterLength(5);

Note

One sample time is 200 microseconds.

Parameters

[in]

samples

The length of the filter to set in samples

HlfbHasFallen()

bool ClearCore::MotorDriver::HlfbHasFallen ( )

inline

Clear on read accessor for HLFB falling edge detection.

if (ConnectorM0.HlfbHasFallen()) {
    // M-0 HLFB falling edge detected
}

Returns

True if the HLFB input state has fallen since last poll

HlfbHasRisen()

bool ClearCore::MotorDriver::HlfbHasRisen ( )

inline

Clear on read accessor for HLFB rising edge detection.

if (ConnectorM0.HlfbHasRisen()) {
    // M-0 HLFB rising edge detected
}

Returns

True if the HLFB input state has risen since last poll

HlfbInputStatus()

bool ClearCore::MotorDriver::HlfbInputStatus ( )

inline

Get the HLFB input status.

Returns

True if the HLFB state is currently asserted or is actively detecting a PWM signal.

HlfbMode() [1/2]

HlfbModes ClearCore::MotorDriver::HlfbMode ( )

inline

Accessor for current HLFB operational mode.

if (ConnectorM0.HlfbMode() == MotorDriver::HLFB_MODE_STATIC) {
    // M-0's HLFB mode is set to static
}

Returns

Current HLFB mode

HlfbMode() [2/2]

void ClearCore::MotorDriver::HlfbMode ( HlfbModes  newMode )

inline

Sets operational mode of the HLFB to match up with the HLFB configuration of a ClearPath™ motor.

// Set M-0's HLFB mode to bipolar PWM
ConnectorM0.HlfbMode(MotorDriver::HLFB_MODE_HAS_BIPOLAR_PWM);

Parameters

[in]

newMode

HLFB mode to switch to

Examples

EncoderInputExamples/FollowEncoder/FollowEncoder.cpp, and FollowEncoder.cpp.

HlfbPercent()

volatile const float & ClearCore::MotorDriver::HlfbPercent ( )

inline

Returns the percent of Peak Torque/Max Speed based on the current HLFB PWM duty cycle.

// Save the current duty cycle of M-0's HLFB
float currentDuty = ConnectorM0.HlfbPercent();

Note

This function is only applicable when the HlfbMode is set to HLFB_MODE_HAS_PWM or HLFB_MODE_HAS_BIPOLAR_PWM.

Returns

Returns HLFB_DUTY_UNKNOWN number if no update has been detected.

Note

The correct HLFB carrier frequency must be set using HlfbCarrier().

HlfbState()

volatile const HlfbStates & ClearCore::MotorDriver::HlfbState ( )

inline

Return the latest HLFB state information.

if (ConnectorM0.HlfbState() == MotorDriver::HLFB_ASSERTED) {
    // M-0's HLFB is fully asserted
}

Returns

When configured in HLFB_MODE_STATIC mode, this returns the current HLFB state.

For HLFB_MODE_HAS_PWM, the HLFB_ASSERTED or HLFB_DEASSERTED state is returned if no PWM has been detected for 2 milliseconds.

Examples

EncoderInputExamples/FollowEncoder/FollowEncoder.cpp, and FollowEncoder.cpp.

InputAConnector() [1/2]

ClearCorePins ClearCore::MotorDriver::InputAConnector ( )

inline

Get the digital input connector used to control the state of the Input A signal.

if (ConnectorM0.InputAConnector() == CLEARCORE_PIN_DI8) {
    // Connector DI-8 is currently configured to control the Input A
    // signal for motor M-0.
}

Returns

The pin representing the digital input connector configured to control this motor's Input A signal, or CLEARCORE_PIN_INVALID if no such connector has been configured.

For use with ClearPath-MC.

InputAConnector() [2/2]

bool ClearCore::MotorDriver::InputAConnector

(

ClearCorePins

pin

)

Set the digital input connector used to control the state of the Input A signal.

if (ConnectorM0.InputAConnector(CLEARCORE_PIN_DI6)) {
    // Connector DI-6 was successfully configured to control the Input A
    // signal for motor M-0.
}

Parameters

[in]

pin

The pin representing the digital input connector that will control the state of this motor's Input A signal.

Returns

True if the Input A connector was configured successfully.

For use with ClearPath-MC.

InputBConnector() [1/2]

ClearCorePins ClearCore::MotorDriver::InputBConnector ( )

inline

Get the digital input connector used to control the state of the Input B signal.

if (ConnectorM0.InputBConnector() == CLEARCORE_PIN_DI8) {
    // Connector DI-8 is currently configured to control the Input B
    // signal for motor M-0.
}

Returns

The pin representing the digital input connector configured to control this motor's Input B signal, or CLEARCORE_PIN_INVALID if no such connector has been configured.

For use with ClearPath-MC.

InputBConnector() [2/2]

bool ClearCore::MotorDriver::InputBConnector

(

ClearCorePins

pin

)

Set the digital input connector used to control the state of the Input B signal.

if (ConnectorM0.InputBConnector(CLEARCORE_PIN_DI6)) {
    // Connector DI-6 was successfully configured to control the Input B
    // signal for motor M-0.
}

Parameters

[in]

pin

The pin representing the digital input connector that will control the state of this motor's Input B signal.

Returns

True if the Input B connector was configured successfully.

For use with ClearPath-MC.

IsInHwFault()

bool ClearCore::MotorDriver::IsInHwFault ( )

inlineoverridevirtual

Check whether the connector is in a hardware fault state.

if (ConnectorM0.IsInHwFault()) {
    // M-0 is in a fault state
}

Returns

Connector is in fault

Implements ClearCore::Connector.

IsWritable()

bool ClearCore::MotorDriver::IsWritable ( )

inlineoverridevirtual

Get R/W status of the connector.

if (ConnectorAlias.IsWritable()) {
    // This generic connector variable is writable
}

Returns

True because the connector is always writable

Reimplemented from ClearCore::DigitalIn.

LimitSwitchNeg() [1/2]

ClearCorePins ClearCore::MotorDriver::LimitSwitchNeg ( )

inline

Get the associated negative limit switch output connector.

if (ConnectorM0.LimitSwitchNeg() == CLEARCORE_PIN_IO2) {
    // M-0's negative limit switch is currently set to IO-2 and enabled.
}

if (ConnectorM0.LimitSwitchNeg() == CLEARCORE_PIN_INVALID) {
    // M-0's negative limit switch is currently disabled.
}

Returns

The pin representing the digital output connector configured to be this motor's negative limit, or CLEARCORE_PIN_INVALID if no such connector has been configured.

For use with Step and Direction mode.

LimitSwitchNeg() [2/2]

bool ClearCore::MotorDriver::LimitSwitchNeg

(

ClearCorePins

pin

)

Set the associated negative limit switch connector.

if (ConnectorM0.LimitSwitchNeg(CLEARCORE_PIN_IO2)) {
    // M-0's negative limit switch is now set to IO-2 and enabled.
}

if (ConnectorM0.LimitSwitchNeg(CLEARCORE_PIN_INVALID)) {
    // M-0's negative limit switch is now disabled.
}

Note

The input configured as a limit switch must be a Normally Closed (NC) switch or NPN/NC sensor to function correctly with this feature.

If motion is commanded in the negative direction and the configured input is de-asserted, the specified motor will be commanded to decelerate immediatley (at the greater deceleration rate of EStopDecelMax or AccelMax)

Next, the MotionCanceledNegativeLimit alert will be set to TRUE. Any alerts will prevent further motion (in any direction) until cleared.

Attention

To recover from reaching a limit switch:

1. Ensure you are not activley commanding any further motion. Any new motion command in the same direction as the limit will cause the alert to persist or reappear (even commanding 0 velocity or commanding to hold the current position).
2. Use ClearAlerts() to clear the alerts register. This allows further motion to be commanded. Ensure this motion is in the opposite direction of this limit switch.

Parameters

[in]

pin

The pin representing the connector to use as the negative limit switch for this motor. If CLEARCORE_PIN_INVALID is supplied, the negative limit is disabled.

Returns

True if the negative limit switch was successfully set and enabled, or successfully disabled; false if a pin other than CLEARCORE_PIN_INVALID was supplied that isn't a valid digital input pin.

For use with Step and Direction mode.

LimitSwitchPos() [1/2]

ClearCorePins ClearCore::MotorDriver::LimitSwitchPos ( )

inline

Get the associated positive limit switch output connector.

if (ConnectorM0.LimitSwitchPos() == CLEARCORE_PIN_IO2) {
    // M-0's positive limit switch is currently set to IO-2 and enabled.
}

if (ConnectorM0.LimitSwitchPos() == CLEARCORE_PIN_INVALID) {
    // M-0's positive limit switch is currently disabled.
}

Returns

The pin representing the digital output connector configured to be this motor's positive limit, or CLEARCORE_PIN_INVALID if no such connector has been configured.

For use with Step and Direction mode.

LimitSwitchPos() [2/2]

bool ClearCore::MotorDriver::LimitSwitchPos

(

ClearCorePins

pin

)

Set the associated positive limit switch connector.

if (ConnectorM0.LimitSwitchPos(CLEARCORE_PIN_IO2)) {
    // M-0's positive limit switch is now set to IO-2 and enabled.
}

if (ConnectorM0.LimitSwitchPos(CLEARCORE_PIN_INVALID)) {
    // M-0's positive limit switch is now disabled.
}

Note

The input configured as a limit switch must be a Normally Closed (NC) switch or NPN/NC sensor to function correctly with this feature.

If motion is commanded in the positive direction and the configured input is de-asserted, the specified motor will be commanded to decelerate immediatley (at the greater deceleration rate of EStopDecelMax or AccelMax)

Next, the MotionCanceledPositiveLimit alert will be set to TRUE. Any alerts will prevent further motion (in any direction) until cleared.

Attention

To recover from reaching a limit switch:

1. Ensure you are not activley commanding any further motion. Any new motion command in the same direction as the limit will cause the alert to persist or reappear (even commanding 0 velocity or commanding to hold the current position).
2. Use ClearAlerts() to clear the alerts register. This allows further motion to be commanded. Ensure this motion is in the opposite direction of this limit switch.

Parameters

[in]

pin

The pin representing the connector to use as the positive limit switch for this motor. If CLEARCORE_PIN_INVALID is supplied, the positive limit is disabled.

Returns

True if the positive limit switch was successfully set and enabled, or successfully disabled; false if a pin other than CLEARCORE_PIN_INVALID was supplied that isn't a valid digital input pin.

For use with Step and Direction mode.

Mode()

virtual ConnectorModes ClearCore::MotorDriver::Mode ( )

inlineoverridevirtual

Get the connector's operational mode.

if (ConnectorM0.Mode() == Connector::CPM_MODE_A_DIRECT_B_PWM) {
    // M-0 is in A-Direct, B-PWM mode
}

Returns

The connector's current operational mode.

Reimplemented from ClearCore::DigitalIn.

MotorInADuty()

bool ClearCore::MotorDriver::MotorInADuty

(

uint8_t

duty

)

Function to set the duty cycle of a PWM signal being sent to the motor's Input A.

// Send a max duty cycle on M-0's input A line
ConnectorM0.MotorInADuty(255);

Parameters

[in]

duty

The PWM duty cycle

For use with ClearPath-MC.

MotorInAState() [1/2]

bool ClearCore::MotorDriver::MotorInAState

(

)

Accessor for the state of the motor's Input A.

if (ConnectorM0.MotorInAState()) {
    // M-0's ClearPath motor has its input A raised
}

Returns

The current state of Input A

For use with ClearPath-MC.

MotorInAState() [2/2]

bool ClearCore::MotorDriver::MotorInAState

(

bool

value

)

Function to set the state of the motor's Input A.

// Turn off M-0's ClearPath motor's input A
ConnectorM0.MotorInAState(false);

Parameters

[in]

value

The boolean state to be passed to the input

For use with ClearPath-MC.

MotorInBDuty()

bool ClearCore::MotorDriver::MotorInBDuty

(

uint8_t

duty

)

Function to set the duty cycle of a PWM signal being sent to the motor's Input B.

// Send a max duty cycle on M-0's input B line
ConnectorM0.MotorInBDuty(255);

Parameters

[in]

duty

The PWM duty cycle

For use with ClearPath-MC.

MotorInBState() [1/2]

bool ClearCore::MotorDriver::MotorInBState

(

)

Accessor for the state of the motor's Input B.

if (ConnectorM0.MotorInBState()) {
    // M-0's ClearPath motor has its input B raised
}

Returns

The current state of Input B

For use with ClearPath-MC.

MotorInBState() [2/2]

bool ClearCore::MotorDriver::MotorInBState

(

bool

value

)

Function to set the value of the motor's Input B.

// Turn off M-0's ClearPath motor's input B
ConnectorM0.MotorInBState(false);

Parameters

[in]

value

The boolean state to be passed to the input

For use with ClearPath-MC.

Move()

virtual bool ClearCore::MotorDriver::Move ( int32_t  dist, MoveTarget  moveTarget = MOVE_TARGET_REL_END_POSN  )

overridevirtual

Issues a positional move for the specified distance.

Note

When making absolute moves, ClearCore tracks the current position based on the zero position at program-start. If there is a move in progress when a new move is issued, the target position will be adjusted according to the moveTarget parameter, the new acceleration and velocity limits will be applied, and the new move is merged seamlessly with the previous motion. If you want to make sure that the previous move fully completes without being merged with a new command, wait for StepsComplete() to return true.

// Interrupt any on-going move and move to the absolute position 5000
ConnectorM0.Move(5000, StepGenerator::MOVE_TARGET_ABSOLUTE);

Parameters

[in]	dist	The distance of the move in step pulses
[in]	moveTarget	(optional) Specify the type of movement that should be done. Absolute or relative to the end position of the current move. Invalid will result in move relative to the end position. Default: MOVE_TARGET_REL_END_POSN

For use with Step and Direction mode.

Reimplemented from ClearCore::StepGenerator.

Examples

EncoderInputExamples/FollowEncoder/FollowEncoder.cpp, and FollowEncoder.cpp.

MoveVelocity()

virtual bool ClearCore::MotorDriver::MoveVelocity ( int32_t  velocity )

overridevirtual

Issues a velocity move at the specified velocity.

// Perform a velocity move
ConnectorM0.MoveVelocity(500);

Note

Any existing move will be immediately overwritten with the new velocity.

Parameters

[in]

velocity

The velocity of the move in step pulses/second.

For use with Step and Direction mode.

Reimplemented from ClearCore::StepGenerator.

Examples

EncoderInputExamples/FollowEncoder/FollowEncoder.cpp, and FollowEncoder.cpp.

PolarityInvertSDDirection()

bool ClearCore::MotorDriver::PolarityInvertSDDirection

(

bool

invert

)

Function to invert the default polarity of the direction signal of this motor.

if (ConnectorM0.PolarityInvertSDDirection(true)) {
    // M-0's direction signal was successfully inverted
}

Note

This inversion function is only usable in Step & Direction mode.

Parameters

[in]

invert

If true, signal inversion will be turned on

PolarityInvertSDEnable()

bool ClearCore::MotorDriver::PolarityInvertSDEnable

(

bool

invert

)

Function to invert the default polarity of the enable signal of this motor.

if (ConnectorM0.PolarityInvertSDEnable(true)) {
    // M-0's enable signal was successfully inverted
}

Note

This inversion function is only usable in Step & Direction mode.

Parameters

[in]

invert

If true, signal inversion will be turned on

PolarityInvertSDHlfb()

bool ClearCore::MotorDriver::PolarityInvertSDHlfb

(

bool

invert

)

Function to invert the default polarity of the HLFB signal of this motor.

if (ConnectorM0.PolarityInvertSDHlfb(true)) {
    // M-0's HLFB signal was successfully inverted
}

Note

This inversion function is only usable in Step & Direction mode.

Parameters

[in]

invert

If true, signal inversion will be turned on

StatusReg()

volatile const StatusRegMotor & ClearCore::MotorDriver::StatusReg ( )

inline

Accessor for the current Motor Status Register.

if (ConnectorM0.StatusReg().bit.StepsActive) {
    // M-0 is currently in motion
}

Examples

EncoderInputExamples/FollowEncoder/FollowEncoder.cpp, and FollowEncoder.cpp.

StatusRegFallen()

StatusRegMotor ClearCore::MotorDriver::StatusRegFallen

(

)

Clear on read accessor for Motor Status Register falling edge detection.

if (ConnectorM0.StatusRegFallen().bit.Enabled) {
    // M-0's requested enable state went from "on" to "off" since
    // the last status poll.
}

StatusRegRisen()

StatusRegMotor ClearCore::MotorDriver::StatusRegRisen

(

)

Clear on read accessor for Motor Status Register rising edge detection.

if (ConnectorM0.StatusRegRisen().bit.Enabled) {
    // M-0's requested enable state went from "off" to "on" since
    // the last status poll.
}

Type()

Connector::ConnectorTypes ClearCore::MotorDriver::Type ( )

inlineoverridevirtual

Get connector type.

if (ConnectorAlias.Type() == Connector::CPM_TYPE) {
    // This generic connector variable is a MotorDriver connector
}

Returns

The type of the current connector.

Reimplemented from ClearCore::DigitalIn.

ValidateMove()

bool ClearCore::MotorDriver::ValidateMove

(

bool

negDirection

)

Verify that the motor is in a good state before sending a move command.

Returns

True if the motor is ready for a move command; false if there is a configuration setting or error that would (or should) prevent motion.

For use with Step and Direction mode.

Member Data Documentation

HLFB_DUTY_UNKNOWN

const int16_t ClearCore::MotorDriver::HLFB_DUTY_UNKNOWN = -9999

static

Constant returned when HLFB duty cannot be determined.

---

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

• MotorDriver.h