![]() |
ClearCore Library
|
Register access for information about the motor's operating status. Intended for use in Step and Direction mode.
Register access for information about the motor's operating status. Intended for use in Step and Direction mode. More...
#include <MotorDriver.h>
Public Member Functions | |
StatusRegMotor () | |
StatusRegMotor (uint32_t val) | |
Public Attributes | ||
uint32_t | reg | |
struct { | ||
uint32_t AtTargetPosition: 1 | ||
uint32_t StepsActive: 1 | ||
uint32_t AtTargetVelocity: 1 | ||
uint32_t MoveDirection: 1 | ||
uint32_t MotorInFault: 1 | ||
uint32_t Enabled: 1 | ||
uint32_t PositionalMove: 1 | ||
uint32_t HlfbState: 2 | ||
uint32_t AlertsPresent: 1 | ||
MotorReadyStates ReadyState: 3 | ||
uint32_t Triggering: 1 | ||
uint32_t InPositiveLimit: 1 | ||
uint32_t InNegativeLimit: 1 | ||
uint32_t InEStopSensor: 1 | ||
} | bit | |
|
inline |
StatusRegMotor default constructor
|
inline |
StatusRegMotor constructor with initial value
uint32_t ClearCore::MotorDriver::StatusRegMotor::AlertsPresent |
Alerts Present.
uint32_t ClearCore::MotorDriver::StatusRegMotor::AtTargetPosition |
TRUE if the commanded position equals the target position and the HLFB is asserted
uint32_t ClearCore::MotorDriver::StatusRegMotor::AtTargetVelocity |
TRUE if the commanded velocity equals the target velocity
struct { ... } ClearCore::MotorDriver::StatusRegMotor::bit |
Field access to the motor status register
uint32_t ClearCore::MotorDriver::StatusRegMotor::Enabled |
TRUE if the motor's enable output is asserted AND the HLFB is NOT deasserted.
uint32_t ClearCore::MotorDriver::StatusRegMotor::HlfbState |
Reflects the state of the HLFB.
uint32_t ClearCore::MotorDriver::StatusRegMotor::InEStopSensor |
Reflects the state of the associated E-stop sensor connector.
uint32_t ClearCore::MotorDriver::StatusRegMotor::InNegativeLimit |
Reflects the state of the associated negative limit connector.
uint32_t ClearCore::MotorDriver::StatusRegMotor::InPositiveLimit |
Reflects the state of the associated positive limit connector.
uint32_t ClearCore::MotorDriver::StatusRegMotor::MotorInFault |
TRUE if the HLFB is deasserted AND the enable output is asserted When set, any currently executing motion will get canceled
uint32_t ClearCore::MotorDriver::StatusRegMotor::MoveDirection |
Direction of the most recent move TRUE if the last motion was in the positive direction Latches until start of new move
uint32_t ClearCore::MotorDriver::StatusRegMotor::PositionalMove |
TRUE if the last commanded move was a positional move.
MotorReadyStates ClearCore::MotorDriver::StatusRegMotor::ReadyState |
Motor ready state
uint32_t ClearCore::MotorDriver::StatusRegMotor::reg |
Broad access to the whole register
uint32_t ClearCore::MotorDriver::StatusRegMotor::StepsActive |
TRUE if the commanded velocity is nonzero
uint32_t ClearCore::MotorDriver::StatusRegMotor::Triggering |
TRUE if enable trigger pulses are being sent