CQEMotorUser is the class that interacts directly with the motor control device driver for regular motors 13, 14, 15 and 16. More...

#include <qemotoruser.h>

Inheritance diagram for CQEMotorUser:

List of all members.

Public Member Functions
	SINGLETON (CQEMotorUser)
	This internal macro handles instantiation of this class.
unsigned int	GetFrequency ()
	Get control frequency for all axes (motors 13, 14, 15 and 16).
int	SetFrequency (unsigned int freq)
	Set control frequency for all axes (motor 13, 14, 15 and 16).
virtual Axis_position	GetPosition (unsigned int axis)
	Get current position of axis.
virtual void	GetPositionVector (Axis_position position[])
	Get position of all axes as a vector.
void	SetPWM (unsigned int axis, int pwm)
	Set PWM command value of the specified axis.
int	GetPWM (unsigned int axis)
	Get the PWM command value of the specified axis.
void	SetPIDVGains (unsigned int axis, unsigned int pGain, unsigned int iGain, unsigned int dGain, unsigned int vGain)
	Set PID and Velocity feedforward gains.
void	Hold (unsigned int axis, bool val)
	Set the "hold" state of the axis, which determines if the current axis position is actively held stationary or not when there is no movement command.
void	Stop (unsigned int axis)
	Stop the specified axis at its current position.
void	SetPosition (unsigned int axis, Axis_position pos)
	Set the position of the specified axis.
long	GetVelocity (unsigned int axis)
void	GetVelocityVector (long velocity[])
void	SetCalibrate (unsigned int axis, unsigned int cal)
void	SetTiming (unsigned int axis, unsigned int waitInterval)
bool	GetDone (unsigned int axis)
void	HandleOffset ()
void	FlushWriteQueue (unsigned int axis)
void	SetWriteQueueSize (unsigned int size)
Protected Member Functions
	CQEMotorUser ()
virtual	~CQEMotorUser ()
int	ConstructCall (int axis, int findex,...)
Protected Attributes
unsigned int	m_servoAxes
int	m_handle [QEMOT_NUM_MOTORS]

Detailed Description

CQEMotorUser is the class that interacts directly with the motor control device driver for regular motors 13, 14, 15 and 16.

It performs low-level motor control tasks such as setting control frequency, setting motor PWM, getting motor position and setting PID gain values. To instantiate this class:

 // by pointer
 CQEMotorUser *pmotor = CQEMotorUser::GetPtr(); 
 // or by reference
 CQEMotorUser &motor = CQEMotorUser::GetRef();

And when done with this class, call Release(), for each call to GetPtr() or GetRef():

 CQEMotorUser::Release();

Constructor & Destructor Documentation

CQEMotorUser::CQEMotorUser ( ) [protected]

CQEMotorUser::~CQEMotorUser ( ) [protected, virtual]

Member Function Documentation

int CQEMotorUser::ConstructCall	(	int	axis,
		int	findex,
			...
	)			`[protected]`

void CQEMotorUser::FlushWriteQueue ( unsigned int axis )

bool CQEMotorUser::GetDone ( unsigned int axis )

unsigned int CQEMotorUser::GetFrequency ( )

Get control frequency for all axes (motors 13, 14, 15 and 16).

Returns:: value expressed in updates per second.

Axis_position CQEMotorUser::GetPosition ( unsigned int axis ) [virtual]

Get current position of axis.

Parameters:

axis

the axis in question, either 0, 1, 2, or 3, corresponding to motor ports 13, 14, 15, and 16, respectively.

Returns:: the axis position expressed in "ticks". Ticks are an angular unit based on the back-emf constant of the motor.

void CQEMotorUser::GetPositionVector ( Axis_position position[] ) [virtual]

Get position of all axes as a vector.

Parameters:

position

array of Axis_position where the axis positions will be written.

int CQEMotorUser::GetPWM ( unsigned int axis )

Get the PWM command value of the specified axis.

Parameters:

axis

the axis in question, either 0, 1, 2, or 3, corresponding to motor ports 13, 14, 15, and 16, respectively.

Returns:: the current PWM value ranging between -255 and 255.

long CQEMotorUser::GetVelocity ( unsigned int axis )

void CQEMotorUser::GetVelocityVector ( long velocity[] )

void CQEMotorUser::HandleOffset ( )

void CQEMotorUser::Hold	(	unsigned int	axis,
		bool	val
	)

Set the "hold" state of the axis, which determines if the current axis position is actively held stationary or not when there is no movement command.

Parameters:

	axis	the axis in question, either 0, 1, 2, or 3, corresponding to motor ports 13, 14, 15, and 16, respectively.
	val	true actively holds the current position, false releases axis from active control when there is no movement command.

void CQEMotorUser::SetCalibrate	(	unsigned int	axis,
		unsigned int	cal
	)

int CQEMotorUser::SetFrequency ( unsigned int freq )

Set control frequency for all axes (motor 13, 14, 15 and 16).

It is highly recommended that you not call this method unless you have a a good understanding of how it affects axis control.

Parameters:

freq

desired control frequency expressed in updates per second.

Returns:: 0 if success, nonzero otherwise.

void CQEMotorUser::SetPIDVGains	(	unsigned int	axis,
		unsigned int	pGain,
		unsigned int	iGain,
		unsigned int	dGain,
		unsigned int	vGain
	)

Set PID and Velocity feedforward gains.

It is highly recommended that you not call this method unless you have a a good understanding of how it affects axis control.

Parameters:

	axis	the axis in question, either 0, 1, 2, or 3, corresponding to motor ports 13, 14, 15, and 16, respectively.
	pGain	proportional gain value.
	iGain	integral gain value.
	dGain	derivative gain value.
	vGain	velocity feedforward gain value.

void CQEMotorUser::SetPosition	(	unsigned int	axis,
		Axis_position	pos
	)

Set the position of the specified axis.

Parameters:

	axis	the axis in question, either 0, 1, 2, or 3, corresponding to motor ports 13, 14, 15, and 16, respectively.
	pos	the position to set.

void CQEMotorUser::SetPWM	(	unsigned int	axis,
		int	pwm
	)

Set PWM command value of the specified axis.

The PWM value determines the voltage that the motor will receive and hence the motor's speed and torque.

Parameters:

	axis	the axis in question, either 0, 1, 2, or 3, corresponding to motor ports 13, 14, 15, and 16, respectively.
	pwm	the desired PWM value ranging between -255 and 255. Values outside this range will be limited to the respective maximum or minimum value.

void CQEMotorUser::SetTiming	(	unsigned int	axis,
		unsigned int	waitInterval
	)

void CQEMotorUser::SetWriteQueueSize ( unsigned int size )

CQEMotorUser::SINGLETON ( CQEMotorUser )

This internal macro handles instantiation of this class.

void CQEMotorUser::Stop ( unsigned int axis )

Stop the specified axis at its current position.

Parameters:

axis

the axis in question, either 0, 1, 2, or 3, corresponding to motor ports 13, 14, 15, and 16, respectively.

Member Data Documentation

int CQEMotorUser::m_handle[QEMOT_NUM_MOTORS] [protected]

unsigned int CQEMotorUser::m_servoAxes [protected]

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

CQEMotorUser Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation