RoboClaw.h File Reference

RoboClaw motor controller class interface. More...

#include <sys/types.h>
#include <string>
#include "rnr/rnrconfig.h"
#include "rnr/log.h"

Go to the source code of this file.

Classes
class	motor::roboclaw::RoboClawChipSelect
	RoboClaw motor controller chip select class. More...
class	motor::roboclaw::RoboClawComm
	RoboClaw communication class. More...
class	motor::roboclaw::RoboClaw
	RoboClaw 2 motor controller class. More...

Enumerations
enum	motor::roboclaw::MsgFmt {   motor::roboclaw::MsgWithNoCrc,   motor::roboclaw::MsgWithCrc,   motor::roboclaw::MsgIgnoreCrc,   motor::roboclaw::MsgLenFixed,   motor::roboclaw::MsgLenVariable }
	Command and response message formats. More...
enum	motor::roboclaw::Cmd {   motor::roboclaw::CmdDriveForwardMot1 = 0,   motor::roboclaw::CmdDriveBackwardMot1 = 1,   motor::roboclaw::CmdSetMinMainVolt = 2,   motor::roboclaw::CmdSetMaxMainVolt = 3,   motor::roboclaw::CmdDriveForwardMot2 = 4,   motor::roboclaw::CmdDriveBackwardMot2 = 5,   motor::roboclaw::CmdDriveMot1 = 6,   motor::roboclaw::CmdDriveMot2 = 7,   motor::roboclaw::CmdMixDriveForward = 8,   motor::roboclaw::CmdMixDriveBackward = 9,   motor::roboclaw::CmdMixTurnRight = 10,   motor::roboclaw::CmdMixTurnLeft = 11,   motor::roboclaw::CmdMixDrive = 12,   motor::roboclaw::CmdMixTurn = 13,   motor::roboclaw::CmdReadEncoderMot1 = 16,   motor::roboclaw::CmdReadEncoderMot2 = 17,   motor::roboclaw::CmdReadSpeedMot1 = 18,   motor::roboclaw::CmdReadSpeedMot2 = 19,   motor::roboclaw::CmdResetEncoderCntrs = 20,   motor::roboclaw::CmdReadFwVersion = 21,   motor::roboclaw::CmdSetEncoderReg1 = 22,   motor::roboclaw::CmdSetEncoderReg2 = 23,   motor::roboclaw::CmdReadMainBattVolt = 24,   motor::roboclaw::CmdReadLogicVolt = 25,   motor::roboclaw::CmdSetMinLogicVolt = 26,   motor::roboclaw::CmdSetMaxLogicVolt = 27,   motor::roboclaw::CmdSetVelPidMot1 = 28,   motor::roboclaw::CmdSetVelPidMot2 = 29,   motor::roboclaw::CmdRead125SpeedMot1 = 30,   motor::roboclaw::CmdRead125SpeedMot2 = 31,   motor::roboclaw::CmdDriveDutyMot1 = 32,   motor::roboclaw::CmdDriveDutyMot2 = 33,   motor::roboclaw::CmdDriveDuty = 34,   motor::roboclaw::CmdDriveQMot1 = 35,   motor::roboclaw::CmdDriveQMot2 = 36,   motor::roboclaw::CmdDriveQ = 37,   motor::roboclaw::CmdDriveQAccelMot1 = 38,   motor::roboclaw::CmdDriveQAccelMot2 = 39,   motor::roboclaw::CmdDriveQAccel = 40,   motor::roboclaw::CmdBufDriveQDistMot1 = 41,   motor::roboclaw::CmdBufDriveQDistMot2 = 42,   motor::roboclaw::CmdBufDriveQDist = 43,   motor::roboclaw::CmdBufDriveQAccelDistMot1 = 44,   motor::roboclaw::CmdBufDriveQAccelDistMot2 = 45,   motor::roboclaw::CmdBufDriveQAccelDist = 46,   motor::roboclaw::CmdReadBufLen = 47,   motor::roboclaw::CmdReadMotorDraw = 49,   motor::roboclaw::CmdDriveQAccel2 = 50,   CmdBufDriveQAccel2Dist = 51,   motor::roboclaw::CmdReadVelPidMot1 = 55,   motor::roboclaw::CmdReadVelPidMot2 = 56,   motor::roboclaw::CmdSetMainBattCutoffs = 57,   motor::roboclaw::CmdSetLogicCutoffs = 58,   motor::roboclaw::CmdReadMainBattCutoffs = 59,   motor::roboclaw::CmdReadLogicCutoffs = 60,   motor::roboclaw::CmdSetPosPidMot1 = 61,   motor::roboclaw::CmdSetPosPidMot2 = 62,   motor::roboclaw::CmdReadPosPidMot1 = 63,   motor::roboclaw::CmdReadPosPidMot2 = 64,   motor::roboclaw::CmdBufDriveQProfPosMot1 = 65,   motor::roboclaw::CmdBufDriveQProfPosMot2 = 66,   motor::roboclaw::CmdBufDriveQProfPos = 67,   motor::roboclaw::CmdReadTemp = 82,   motor::roboclaw::CmdReadTemp2 = 83,   motor::roboclaw::CmdReadStatus = 90,   motor::roboclaw::CmdReadEncoderMode = 91,   motor::roboclaw::CmdSetEncoderModeMot1 = 92,   motor::roboclaw::CmdSetEncoderModeMot2 = 93,   motor::roboclaw::CmdWriteEEPROM = 94,   motor::roboclaw::CmdSetMaxCurrentMot1 = 133,   motor::roboclaw::CmdSetMaxCurrentMot2 = 134,   motor::roboclaw::CmdReadMaxCurrentMot1 = 135,   motor::roboclaw::CmdReadMaxCurrentMot2 = 136 }
	Commands Ids. More...
enum	motor::roboclaw::ParamStatus {   motor::roboclaw::ParamStatusNormal = 0x0000,   motor::roboclaw::ParamStatusWarnMot1OverCur = 0x0001,   motor::roboclaw::ParamStatusWarnMot2OverCur = 0x0002,   motor::roboclaw::ParamStatusEStopped = 0x0004,   motor::roboclaw::ParamStatusErrTemp = 0x0008,   motor::roboclaw::ParamStatusErrTemp2 = 0x0010,   motor::roboclaw::ParamStatusErrMainBattHigh = 0x0020,   motor::roboclaw::ParamStatusErrLogicBattHigh = 0x0040,   motor::roboclaw::ParamStatusErrLogicBattLow = 0x0080,   motor::roboclaw::ParamStatusErrMot1Fault = 0x0100,   motor::roboclaw::ParamStatusErrMot2Fault = 0x0200,   motor::roboclaw::ParamStatusWarnMainBattHigh = 0x0400,   motor::roboclaw::ParamStatusWarnMainBattLow = 0x0800,   motor::roboclaw::ParamStatusWarnTemp = 0x1000,   motor::roboclaw::ParamStatusWarnTemp2 = 0x2000,   motor::roboclaw::ParamStatusMot1Home = 0x4000,   motor::roboclaw::ParamStatusMot2Home = 0x8000 }
	Board status bits. More...
enum	motor::roboclaw::ParamEncStatus {   motor::roboclaw::ParamEncStatusUnderFlow = 0x01,   motor::roboclaw::ParamEncStatusDirBackward = 0x02,   motor::roboclaw::ParamEncStatusOverFlow = 0x04 }
	Encoder status on read. More...

Variables
static const int	motor::roboclaw::SerBaud2400 = 2400
	2400 serial baudrate
static const int	motor::roboclaw::SerBaud9600 = 9600
	9600 serial baudrate
static const int	motor::roboclaw::SerBaud19200 = 19200
	19200 serial baudrate
static const int	motor::roboclaw::SerBaud38400 = 38400
	38400 serial baudrate
static const int	motor::roboclaw::SerBaud115200 = 115200
	115200 serial baudrate
static const int	motor::roboclaw::SerBaud230400 = 230400
	230400 serial baudrate
static const int	motor::roboclaw::SerBaud460800 = 460800
	460800 serial baudrate
static const int	motor::roboclaw::USBBaud1Mbps = 1000000
	1Mbps USB typical baudrate
static const byte_t	motor::roboclaw::AddrMin = 0x80
	minimum controller address
static const byte_t	motor::roboclaw::AddrMax = 0x87
	maximum controller address
static const byte_t	motor::roboclaw::AddrDft = 0x80
	default controller address
static const byte_t	motor::roboclaw::CheckSumMask = 0x7f
	checksum mask
static const byte_t	motor::roboclaw::AckReqBit = 0x80
	request ack to write commands
static const byte_t	motor::roboclaw::RspAck = 0xff
	ack response to write commands
static const byte_t	motor::roboclaw::ParamSpeedMin = 0
	minimum absolute speed
static const byte_t	motor::roboclaw::ParamSpeedMax = 127
	maximum absolute speed
static const byte_t	motor::roboclaw::ParamStop = 0
	stop
static const byte_t	motor::roboclaw::ParamSpeed7MaxBwd = 0
	minimum absolute speed
static const byte_t	motor::roboclaw::ParamStop7 = 64
	all stop
static const byte_t	motor::roboclaw::ParamSpeed7MaxFwd = 127
	maximum absolute speed
static const byte_t	motor::roboclaw::ParamTurnMin = 0
	min absolute turn speed
static const byte_t	motor::roboclaw::ParamTurnMax = 127
	max absolute turn speed
static const byte_t	motor::roboclaw::ParamNoTurn = 0
	no turn
static const byte_t	motor::roboclaw::ParamTurn7MaxLeft = 0
	full turn left
static const byte_t	motor::roboclaw::ParamNoTurn7 = 64
	no turn
static const byte_t	motor::roboclaw::ParamTurn7MaxRight = 127
	full turn right
static const int	motor::roboclaw::ParamDutyCycleMin = -32767
	-100% duty cycle
static const int	motor::roboclaw::ParamDutyCycleStop = 0
	0% duty cycle
static const int	motor::roboclaw::ParamDutyCycleMax = 32767
	100% duty cycle
static const size_t	motor::roboclaw::ParamVerLen = 48
	version string length.
static const size_t	motor::roboclaw::ParamVerLenMin = 4
	version minimum length.
static const double	motor::roboclaw::ParamVoltScale = 0.1
	10/th of a volt
static const double	motor::roboclaw::ParamVoltMainMin = 6.0
	min main battery voltage
static const double	motor::roboclaw::ParamVoltLogicMin = 5.5
	minimum logic voltage
static const double	motor::roboclaw::ParamVoltMax = 34.0
	maximum voltage
static const double	motor::roboclaw::ParamAmpScale = 0.01
	sensed_value * S = A
static const double	motor::roboclaw::ParamAmpMin = 0.0
	minimum amps
static const double	motor::roboclaw::ParamAmpMinSane = 0.5
	minimum amps for operation
static const double	motor::roboclaw::ParamAmpMax = 15.0
	maximum amps
static const byte_t	motor::roboclaw::ParamVoltMinMainMin = 0
	0 == 6 volts
static const byte_t	motor::roboclaw::ParamVoltMinMainMax = 120
	120 == 30 volts
static const double	motor::roboclaw::ParamVoltMinMainOff = 6.0
	V @ 0 value.
static const double	motor::roboclaw::ParamVotlMinMainDft = 6.0
	default on reset
static const byte_t	motor::roboclaw::ParamVoltMaxMainMin = 0
	0 == 0 volts
static const byte_t	motor::roboclaw::ParamVoltMaxMainMax = 154
	154 == 30 volts
static const byte_t	motor::roboclaw::ParamVoltMinLogicMin = 0
	0 == 6 volts
static const byte_t	motor::roboclaw::ParamVoltMinLogicMax = 140
	120 == 30 volts
static const double	motor::roboclaw::ParamVoltMinLogicOff = 6.0
	V @ 0 value.
static const byte_t	motor::roboclaw::ParamVoltMaxLogicMin = 30
	30 == 6 volts
static const byte_t	motor::roboclaw::ParamVoltMaxLogicMax = 175
	175 == 34 volts
static const double	motor::roboclaw::ParamVoltMinS = 5.0
	(V - Off) * S = value
static const double	motor::roboclaw::ParamVoltMaxS = 5.12
	V * S = value.
static const double	motor::roboclaw::ParamVoltSensedS = 0.1
	sensed_value * S = V
static const double	motor::roboclaw::ParamTempScale = 0.1
	sensed_value * S = C
static const byte_t	motor::roboclaw::ParamEncModeRCAnalogBit = 0x80
	RC/analog bit.
static const byte_t	motor::roboclaw::ParamEncModeRCAnalogDis = 0x00
	RC/analog disable.
static const byte_t	motor::roboclaw::ParamEncModeRCAnalogEn = 0x80
	RC/analog enable.
static const byte_t	motor::roboclaw::ParamEncModeQuadAbsBit = 0x01
	quad/absolute bit
static const byte_t	motor::roboclaw::ParamEncModeQuad = 0x00
	quadrature encoder
static const byte_t	motor::roboclaw::ParamEncModeAbs = 0x01
	absolute encoder
static const long long	motor::roboclaw::ParamEncQuadMin = 0
	quadrature encoder min
static const long long	motor::roboclaw::ParamEncQuadMax = 4294967295LL
	quadrature encoder max
static const long	motor::roboclaw::ParamVelPidQppsDft = 44000
	speed of encoder at max
static const long	motor::roboclaw::ParamVelPidPDft = 0x00010000
	vel proportional const
static const long	motor::roboclaw::ParamVelPidIDft = 0x00008000
	vel integrative const
static const long	motor::roboclaw::ParamVelPidDDft = 0x00004000
	vel derivative const
static const long	motor::roboclaw::ParamVelPidCvt = 0x00010000
	vel const conversion
static const long	motor::roboclaw::ParamPosPidPDft = 0
	pos proportional const
static const long	motor::roboclaw::ParamPosPidIDft = 0
	pos integrative const
static const long	motor::roboclaw::ParamPosPidDDft = 0
	pos derivative const
static const long	motor::roboclaw::ParamPosPidMaxIDft = 0
	max I windup
static const long	motor::roboclaw::ParamPosPidDeadzoneDft = 0
	deadzone
static const long	motor::roboclaw::ParamPosPidMinPos = 0
	min position
static const long	motor::roboclaw::ParamPosPidMaxPos = 0
	max position
static const byte_t	motor::roboclaw::ParamCmdBufQueue = 0
	queue command
static const byte_t	motor::roboclaw::ParamCmdBufPreempt = 1
	preempt all buffered cmds
static const byte_t	motor::roboclaw::ParamCmdBufSize = 31
	cmd buffer size (num q'd)
static const byte_t	motor::roboclaw::ParamCmdBufExec = 0
	last command is executing
static const byte_t	motor::roboclaw::ParamCmdBufEmpty = 0x80
	buffer is empty
static const uint_t	motor::roboclaw::CmdTimeout = 10000
	command timeout (usec)
static const uint_t	motor::roboclaw::RspTimeout = 12000
	response timeout (usec)
static const int	motor::roboclaw::CmdMaxBufLen = 64
	maximum command length (bytes)
static const int	motor::roboclaw::RspMaxBufLen = 64
	maximum response length (bytes)
static const int	motor::roboclaw::CmdHdrLen = 2
	cmd header length [address,cmdid]
static const int	motor::roboclaw::FieldPosAddr = 0
	controller address position
static const int	motor::roboclaw::FieldPosCmd = 1
	command id position
static const int	motor::roboclaw::Motor1 = 0
	motor 1
static const int	motor::roboclaw::Motor2 = 1
	motor 2
static const int	motor::roboclaw::NumMotors = 2
	number of motors/controller
static const int	motor::roboclaw::MotorDirUnknown = 0
	unknown
static const int	motor::roboclaw::MotorDirNormal = 1
	normal
static const int	motor::roboclaw::MotorDirReverse = -1
	reverse (forward=backward, etc)
static const int	motor::roboclaw::MotorSpeedMaxBackward = -127
	full reverse
static const int	motor::roboclaw::MotorSpeedStop = 0
	stop
static const int	motor::roboclaw::MotorSpeedMaxForward = 127
	full forward

Detailed Description

RoboClaw motor controller class interface.

LastChangedDate

2016-02-19 11:48:14 -0700 (Fri, 19 Feb 2016)

Rev

4324

RoboClaw is from Ion Motion Control.

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2015-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file RoboClaw.h.

Enumeration Type Documentation

enum motor::roboclaw::Cmd

Commands Ids.

Enumerator
CmdDriveForwardMot1	drive motor 1 forward
CmdDriveBackwardMot1	drive motor 1 backward
CmdSetMinMainVolt	set main battery minimum voltage
CmdSetMaxMainVolt	set main battery maximum voltage
CmdDriveForwardMot2	drive motor 1 forward
CmdDriveBackwardMot2	drive motor 2 backward
CmdDriveMot1	drive motor 1 forward/back (7-bit)
CmdDriveMot2	drive motor 2 foward/back (7-bit)
CmdMixDriveForward	drive motors forward
CmdMixDriveBackward	drive motors backward
CmdMixTurnRight	drive motors to turn right
CmdMixTurnLeft	drive motors to turn left
CmdMixDrive	drive motors foward/back (7-bit)
CmdMixTurn	drive motors to turn R/L (7-bit)
CmdReadEncoderMot1	read motor 1 encoder
CmdReadEncoderMot2	read motor 2 encoder
CmdReadSpeedMot1	read motor 1 speed (qpps)
CmdReadSpeedMot2	read motor 2 speed (qpps)
CmdResetEncoderCntrs	reset encoder (quadrature )counters
CmdReadFwVersion	read firmware version
CmdSetEncoderReg1	set encoder register 1 (quadrature)
CmdSetEncoderReg2	set encoder register 2 (quadrature)
CmdReadMainBattVolt	read main battery voltage
CmdReadLogicVolt	read logic battery voltage
CmdSetMinLogicVolt	set logic battery minimum voltage
CmdSetMaxLogicVolt	set logic battery maximum voltage
CmdSetVelPidMot1	set motor 1 velocity PID constants
CmdSetVelPidMot2	set motor 2 velocity PID constants
CmdRead125SpeedMot1	read motor 1 speed (pulses/125th sec)
CmdRead125SpeedMot2	read motor 2 speed (pulses/125th sec)
CmdDriveDutyMot1	drive motor 1 at duty cycle (no quad.)
CmdDriveDutyMot2	drive motor 2 at duty cycle (no quad.)
CmdDriveDuty	drive motors at duty cycle (no quad.)
CmdDriveQMot1	drive motor 1 at quad. pulses/second
CmdDriveQMot2	drive motor 2 at quad. pulses/second
CmdDriveQ	drive motors at quad. pulses/second
CmdDriveQAccelMot1	drive motor 1 at quad. pps with accel.
CmdDriveQAccelMot2	drive motor 2 at quad. pps with accel.
CmdDriveQAccel	drive motors at quad. pps with accel.
CmdBufDriveQDistMot1	buffered drive motor 1 to dist at qpps
CmdBufDriveQDistMot2	buffered drive motor 2 to dist at qpps
CmdBufDriveQDist	buffered drive motors to dist at qpps
CmdBufDriveQAccelDistMot1	buffered drive motor 1 to dist at qpps with accel.
CmdBufDriveQAccelDistMot2	buffered drive motor 2 to dist at qpps with accel.
CmdBufDriveQAccelDist	buffered drive motors to dist at qpps with accel.
CmdReadBufLen	read motors bufferd command length
CmdReadMotorDraw	read motors amp draw
CmdDriveQAccel2	drive motros at qpps with 2 accel vals
CmdReadVelPidMot1	buffered drive motors to dist at qpps w/ 2 accel read motor 1 velocity PID constants
CmdReadVelPidMot2	read motor 2 velocity PID constants
CmdSetMainBattCutoffs	set main battery voltage cutoffs
CmdSetLogicCutoffs	set logic voltage cutoffs
CmdReadMainBattCutoffs	read main battery cutoff settings
CmdReadLogicCutoffs	read logic voltage cutoff settings
CmdSetPosPidMot1	set motor 1 position PID constants
CmdSetPosPidMot2	set motor 2 position PID constants
CmdReadPosPidMot1	read motor 1 position PID constants
CmdReadPosPidMot2	read motor 2 position PID constants
CmdBufDriveQProfPosMot1	drive motor 1 with signed qpps, accel, deccel and position
CmdBufDriveQProfPosMot2	drive motor 2 with signed qpps, accel, deccel and position
CmdBufDriveQProfPos	drive motors with signed qpps, accel, deccel and position
CmdReadTemp	read board temperature
CmdReadTemp2	read board second temperature
CmdReadStatus	read current board status
CmdReadEncoderMode	read encoder mode for both motors
CmdSetEncoderModeMot1	set motor 1 encoder mode
CmdSetEncoderModeMot2	set motor 2 encoder mode
CmdWriteEEPROM	write settings to EEPROM
CmdSetMaxCurrentMot1	set motor 1 maximum current limit
CmdSetMaxCurrentMot2	set motor 2 maximum current limit
CmdReadMaxCurrentMot1	read motor 1 maximum current limit
CmdReadMaxCurrentMot2	read motor 2 maximum current limit

Definition at line 120 of file RoboClaw.h.

    {
      // compatibility mode commands
      CmdDriveForwardMot1     =  0, ///< drive motor 1 forward
      CmdDriveBackwardMot1    =  1, ///< drive motor 1 backward
      CmdSetMinMainVolt       =  2, ///< set main battery minimum voltage
      CmdSetMaxMainVolt       =  3, ///< set main battery maximum voltage
      CmdDriveForwardMot2     =  4, ///< drive motor 1 forward
      CmdDriveBackwardMot2    =  5, ///< drive motor 2 backward
      CmdDriveMot1            =  6, ///< drive motor 1 forward/back (7-bit)
      CmdDriveMot2            =  7, ///< drive motor 2 foward/back (7-bit)
      
      // mix mode commands
      CmdMixDriveForward      =  8, ///< drive motors forward
      CmdMixDriveBackward     =  9, ///< drive motors backward
      CmdMixTurnRight         = 10, ///< drive motors to turn right
      CmdMixTurnLeft          = 11, ///< drive motors to turn left
      CmdMixDrive             = 12, ///< drive motors foward/back (7-bit)
      CmdMixTurn              = 13, ///< drive motors to turn R/L (7-bit)
  
      // advance commands
      CmdReadEncoderMot1      = 16, ///< read motor 1 encoder
      CmdReadEncoderMot2      = 17, ///< read motor 2 encoder
      CmdReadSpeedMot1        = 18, ///< read motor 1 speed (qpps)
      CmdReadSpeedMot2        = 19, ///< read motor 2 speed (qpps)
      CmdResetEncoderCntrs    = 20, ///< reset encoder (quadrature )counters 
      CmdReadFwVersion        = 21, ///< read firmware version
      CmdSetEncoderReg1       = 22, ///< set encoder register 1 (quadrature)
      CmdSetEncoderReg2       = 23, ///< set encoder register 2 (quadrature)
      CmdReadMainBattVolt     = 24, ///< read main battery voltage
      CmdReadLogicVolt        = 25, ///< read logic battery voltage
      CmdSetMinLogicVolt      = 26, ///< set logic battery minimum voltage
      CmdSetMaxLogicVolt      = 27, ///< set logic battery maximum voltage
      CmdSetVelPidMot1        = 28, ///< set motor 1 velocity PID constants
      CmdSetVelPidMot2        = 29, ///< set motor 2 velocity PID constants
      CmdRead125SpeedMot1     = 30, ///< read motor 1 speed (pulses/125th sec)
      CmdRead125SpeedMot2     = 31, ///< read motor 2 speed (pulses/125th sec)
      CmdDriveDutyMot1        = 32, ///< drive motor 1 at duty cycle (no quad.)
      CmdDriveDutyMot2        = 33, ///< drive motor 2 at duty cycle (no quad.)
      CmdDriveDuty            = 34, ///< drive motors at duty cycle (no quad.)
      CmdDriveQMot1           = 35, ///< drive motor 1 at quad. pulses/second
      CmdDriveQMot2           = 36, ///< drive motor 2 at quad. pulses/second
      CmdDriveQ               = 37, ///< drive motors at quad. pulses/second
      CmdDriveQAccelMot1      = 38, ///< drive motor 1 at quad. pps with accel.
      CmdDriveQAccelMot2      = 39, ///< drive motor 2 at quad. pps with accel.
      CmdDriveQAccel          = 40, ///< drive motors at quad. pps with accel.
      CmdBufDriveQDistMot1    = 41, ///< buffered drive motor 1 to dist at qpps 
      CmdBufDriveQDistMot2    = 42, ///< buffered drive motor 2 to dist at qpps
      CmdBufDriveQDist        = 43, ///< buffered drive motors to dist at qpps
      CmdBufDriveQAccelDistMot1 = 44,
                         ///< buffered drive motor 1 to dist at qpps with accel.
      CmdBufDriveQAccelDistMot2 = 45,
                         ///< buffered drive motor 2 to dist at qpps with accel.
      CmdBufDriveQAccelDist   = 46,
                         ///< buffered drive motors to dist at qpps with accel.
      CmdReadBufLen           = 47, ///< read motors bufferd command length

      // more here...
     
      CmdReadMotorDraw        = 49, ///< read motors amp draw
      CmdDriveQAccel2         = 50, ///< drive motros at qpps with 2 accel vals
      CmdBufDriveQAccel2Dist  = 51,
                            /// buffered drive motors to dist at qpps w/ 2 accel

      // more here...

      CmdReadVelPidMot1       = 55, ///< read motor 1 velocity PID constants
      CmdReadVelPidMot2       = 56, ///< read motor 2 velocity PID constants
      CmdSetMainBattCutoffs   = 57, ///< set main battery voltage cutoffs
      CmdSetLogicCutoffs      = 58, ///< set logic voltage cutoffs
      CmdReadMainBattCutoffs  = 59, ///< read main battery cutoff settings
      CmdReadLogicCutoffs     = 60, ///< read logic voltage cutoff settings
      CmdSetPosPidMot1        = 61, ///< set motor 1 position PID constants
      CmdSetPosPidMot2        = 62, ///< set motor 2 position PID constants
      CmdReadPosPidMot1       = 63, ///< read motor 1 position PID constants
      CmdReadPosPidMot2       = 64, ///< read motor 2 position PID constants
      CmdBufDriveQProfPosMot1 = 65,
                ///< drive motor 1 with signed qpps, accel, deccel and position
      CmdBufDriveQProfPosMot2 = 66,
                ///< drive motor 2 with signed qpps, accel, deccel and position
      CmdBufDriveQProfPos     = 67,
                ///< drive motors with signed qpps, accel, deccel and position

      // more here...

      CmdReadTemp             = 82, ///< read board temperature
      CmdReadTemp2            = 83, ///< read board second temperature
      CmdReadStatus           = 90, ///< read current board status
      CmdReadEncoderMode      = 91, ///< read encoder mode for both motors
      CmdSetEncoderModeMot1   = 92, ///< set motor 1 encoder mode
      CmdSetEncoderModeMot2   = 93, ///< set motor 2 encoder mode
      CmdWriteEEPROM          = 94, ///< write settings to EEPROM

      // more here...

      // Note:  RoboClaw User Manual v5 error. The Cmd*MaxCurrentMotn commands
      //        numbers are shifted down by 1.
      CmdSetMaxCurrentMot1    = 133,  ///< set motor 1 maximum current limit
      CmdSetMaxCurrentMot2    = 134,  ///< set motor 2 maximum current limit
      CmdReadMaxCurrentMot1   = 135,  ///< read motor 1 maximum current limit
      CmdReadMaxCurrentMot2   = 136   ///< read motor 2 maximum current limit
    };

enum motor::roboclaw::MsgFmt

Command and response message formats.

Enumerator
MsgWithNoCrc	message does not include a 16-bit CRC
MsgWithCrc	message includes a 16-bit CRC
MsgIgnoreCrc	response includes a CRC, ignore (fw work-around bug)
MsgLenFixed	message is fixed length
MsgLenVariable	message is variable length

Definition at line 105 of file RoboClaw.h.

    {
      MsgWithNoCrc,   ///< message does not include a 16-bit CRC
      MsgWithCrc,     ///< message includes a 16-bit CRC
      MsgIgnoreCrc,   ///< response includes a CRC, ignore (fw work-around bug)
      MsgLenFixed,    ///< message is fixed length
      MsgLenVariable  ///< message is variable length
    };

enum motor::roboclaw::ParamEncStatus

Encoder status on read.

Enumerator
ParamEncStatusUnderFlow	quadrature encoder underflow
ParamEncStatusDirBackward	direction (sign)
ParamEncStatusOverFlow	quadrature encoder overflow

Definition at line 350 of file RoboClaw.h.

    {
      ParamEncStatusUnderFlow   = 0x01,  ///< quadrature encoder underflow
      ParamEncStatusDirBackward = 0x02,  ///< direction (sign)
      ParamEncStatusOverFlow    = 0x04   ///< quadrature encoder overflow
    };

enum motor::roboclaw::ParamStatus

Board status bits.

Enumerator
ParamStatusNormal	normal
ParamStatusWarnMot1OverCur	motor 1 over current warning
ParamStatusWarnMot2OverCur	motor 2 over current warning
ParamStatusEStopped	emergency stopped
ParamStatusErrTemp	temperature out-of-range error
ParamStatusErrTemp2	temperature2 out-of-range error
ParamStatusErrMainBattHigh	main battery over voltage error
ParamStatusErrLogicBattHigh	logic battery over volt error
ParamStatusErrLogicBattLow	logic battery under volt error
ParamStatusErrMot1Fault	motor 1 drive fault
ParamStatusErrMot2Fault	motor 2 drive fault
ParamStatusWarnMainBattHigh	main battery over volt warning
ParamStatusWarnMainBattLow	main battery under volt warning
ParamStatusWarnTemp	temp out-of-range warning
ParamStatusWarnTemp2	temp2 out-of-range warning
ParamStatusMot1Home	motor 1 home
ParamStatusMot2Home	motor 2 home

Definition at line 312 of file RoboClaw.h.

    {
      ParamStatusNormal           = 0x0000, ///< normal
      ParamStatusWarnMot1OverCur  = 0x0001, ///< motor 1 over current warning
      ParamStatusWarnMot2OverCur  = 0x0002, ///< motor 2 over current warning
      ParamStatusEStopped         = 0x0004, ///< emergency stopped
      ParamStatusErrTemp          = 0x0008, ///< temperature out-of-range error
      ParamStatusErrTemp2         = 0x0010, ///< temperature2 out-of-range error
      ParamStatusErrMainBattHigh  = 0x0020, ///< main battery over voltage error
      ParamStatusErrLogicBattHigh = 0x0040, ///< logic battery over volt error
      ParamStatusErrLogicBattLow  = 0x0080, ///< logic battery under volt error
      ParamStatusErrMot1Fault     = 0x0100, ///< motor 1 drive fault
      ParamStatusErrMot2Fault     = 0x0200, ///< motor 2 drive fault
      ParamStatusWarnMainBattHigh = 0x0400, ///< main battery over volt warning
      ParamStatusWarnMainBattLow  = 0x0800, ///< main battery under volt warning
      ParamStatusWarnTemp         = 0x1000, ///< temp out-of-range warning
      ParamStatusWarnTemp2        = 0x2000, ///< temp2 out-of-range warning
      ParamStatusMot1Home         = 0x4000, ///< motor 1 home
      ParamStatusMot2Home         = 0x8000  ///< motor 2 home
    };