Detailed Description

ClearCore motor-connector manager.

This class manages shared settings for the MotorDriver connectors.

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.

ClearCore motor-connector manager. More...

#include <MotorManager.h>

Public Types
enum	MotorClockRates { CLOCK_RATE_LOW , CLOCK_RATE_NORMAL , CLOCK_RATE_HIGH }

enum	MotorPair { MOTOR_M0M1 = 0 , MOTOR_M2M3 = 1 , NUM_MOTOR_PAIRS = 2 , MOTOR_ALL = NUM_MOTOR_PAIRS }

Public Member Functions
bool	MotorInputClocking (MotorClockRates newRate)
	Sets the output step rate for the motor step generators.

bool	MotorModeSet (MotorPair motorPair, Connector::ConnectorModes newMode)
	Sets the operational mode for the specified MotorDriver connectors.

Member Enumeration Documentation

◆ MotorClockRates

enum ClearCore::MotorManager::MotorClockRates

Output step rates to be sent to motors.

Enumerator
CLOCK_RATE_LOW	Select the slow speed step input rate (100 kHz, 5uS pulse width)
CLOCK_RATE_NORMAL	Select the medium speed step input rate (500 kHz, 1uS pulse width)
CLOCK_RATE_HIGH	Select the fast speed step input rate (2 MHz, 250nS pulse width)

◆ MotorPair

enum ClearCore::MotorManager::MotorPair

Indicates a pair of MotorDriver Connectors.

Enumerator
MOTOR_M0M1	MotorDriver Connectors M-0 and M-1.
MOTOR_M2M3	MotorDriver Connectors M-2 and M-3.
NUM_MOTOR_PAIRS	The total number of pairs of MotorDriver Connectors.
MOTOR_ALL	All MotorDriver Connectors.

Member Function Documentation

◆ MotorInputClocking()

bool ClearCore::MotorManager::MotorInputClocking ( MotorClockRates newRate )

Sets the output step rate for the motor step generators.

Sets the step rate for the MotorDriver connectors as a group. They cannot be individually set.

Note: Setting a HIGH clock rate when using a ClearPath motor may cause errors. NORMAL clock rate is recommended for ClearPath motors.

// Set all MotorDrivers' input clock rate to the high rate

MotorMgr.MotorInputClocking(MotorManager::CLOCK_RATE_HIGH);

ClearCore::MotorManager::MotorInputClocking

bool MotorInputClocking(MotorClockRates newRate)

Sets the output step rate for the motor step generators.

ClearCore::MotorManager::CLOCK_RATE_HIGH

@ CLOCK_RATE_HIGH

Definition MotorManager.h:63

ClearCore::MotorMgr

MotorManager & MotorMgr

Motor connector manager.

Parameters

[in] newRate Step rate to be set

Returns: Success

Examples: ClearCoreCommandProtocol.cpp, ClearPathModeExamples/ClearPath-SD_Series/DualAxisSynchronized/DualAxisSynchronized.cpp, ClearPathModeExamples/ClearPath-SD_Series/MovePositionAbsolute/MovePositionAbsolute.cpp, ClearPathModeExamples/ClearPath-SD_Series/MovePositionRelative/MovePositionRelative.cpp, ClearPathModeExamples/ClearPath-SD_Series/MoveVelocity/MoveVelocity.cpp, ClearPathModeExamples/ClearPath-SD_Series/UserSeeksHome/UserSeeksHome.cpp, DualAxisSynchronized.cpp, MovePositionAbsolute.cpp, MovePositionRelative.cpp, MoveVelocity.cpp, SerialCommExamples/ClearCoreCommandProtocol/ClearCoreCommandProtocol.cpp, StepAndDirection.cpp, StepAndDirectionExamplesNonClearPath/StepAndDirectionNonClearPath/StepAndDirection.cpp, and UserSeeksHome.cpp.

◆ MotorModeSet()

bool ClearCore::MotorManager::MotorModeSet	(	MotorPair	motorPair,
		Connector::ConnectorModes	newMode
	)

Sets the operational mode for the specified MotorDriver connectors.

Sets the mode for the specified MotorDriver connectors in tandem. They cannot be individually set.

// Set M-2 and M-3's mode to step and direction
MotorMgr.MotorModeSet(MotorManager::MOTOR_M2M3,
                        Connector::CPM_MODE_STEP_AND_DIR);