Laelaps Motors

Classes
class	laelaps::LaeMotorCtlrChipSelect
	RoboClaw motor controller chip select class. More...

Functions
	laelaps::LaeMotorCtlrChipSelect::LaeMotorCtlrChipSelect ()
	Default constructor.
virtual	laelaps::LaeMotorCtlrChipSelect::~LaeMotorCtlrChipSelect ()
	Destructor.
virtual int	laelaps::LaeMotorCtlrChipSelect::open (int pinGpio)
	Open GPIO pin interface. More...
virtual int	laelaps::LaeMotorCtlrChipSelect::close ()
	Close GPIO pin interface. More...
virtual bool	laelaps::LaeMotorCtlrChipSelect::isOpen ()
	Test if connection is open. More...
virtual void	laelaps::LaeMotorCtlrChipSelect::select (int fd, byte_t addrSel)
	Motor controller select function. More...

Variables
static const char *const	laelaps::LaeKeyFront = "front"
	front
static const char *const	laelaps::LaeKeyRear = "rear"
	rear
static const char *const	laelaps::LaeKeyLeftFront = "left_front"
	left front
static const char *const	laelaps::LaeKeyRightFront = "right_front"
	right front
static const char *const	laelaps::LaeKeyLeftRear = "left_rear"
	left rear
static const char *const	laelaps::LaeKeyRightRear = "right_rear"
	right rear
static const int	laelaps::LaeMotorIdNone = -1
	no motor id
static const int	laelaps::LaeMotorIdLF = 0
	left front
static const int	laelaps::LaeMotorIdRF = 1
	right front
static const int	laelaps::LaeMotorIdLR = 2
	left rear
static const int	laelaps::LaeMotorIdRR = 3
	right rear
static const int	laelaps::LaeMotorsNumOf = 4
	number of motors
static const int	laelaps::LaeMotorCtlrIdNone = -1
	no motor controller id
static const int	laelaps::LaeMotorCtlrIdFront = 0
	front motor controller
static const int	laelaps::LaeMotorCtlrIdRear = 1
	rear motor controller
static const int	laelaps::LaeNumMotorCtlrs = 2
	number of motor controllers
static const byte_t	laelaps::LaeMotorCtlrAddrFront = motor::roboclaw::AddrMin
	front motor controller address
static const byte_t	laelaps::LaeMotorCtlrAddrRear = motor::roboclaw::AddrMin + 1
	rear motor controller address
static const int	laelaps::LaeMotorLeft = motor::roboclaw::Motor1
	left motors
static const int	laelaps::LaeMotorRight = motor::roboclaw::Motor2
	right motors
static const int	laelaps::LaeNumMotorsPerCtlr = motor::roboclaw::NumMotors
	number of motors/controller
static const int	laelaps::LaeMotorDirNormal = motor::roboclaw::MotorDirNormal
	normal
static const int	laelaps::LaeMotorDirReverse = motor::roboclaw::MotorDirReverse
	reverse
static const int	laelaps::LaeMotorAlarmNone = 0x00
	no alarms
static const int	laelaps::LaeMotorAlarmCurrent = 0x01
	under/over current
static const int	laelaps::LaeMotorAlarmVoltage = 0x02
	under/over voltage
static const int	laelaps::LaeMotorAlarmEStop = 0x04
	emergency stopped
static const int	laelaps::LaeMotorAlarmTemp = 0x08
	over temperature
static const int	laelaps::LaeMotorAlarmFault = 0x10
	motor drive fault
static const int	laelaps::LaeMotorWarnNone = 0x00
	no warnings
static const int	laelaps::LaeMotorWarnCurrent = 0x01
	over current
static const int	laelaps::LaeMotorWarnTemp = 0x02
	over temperature
static const int	laelaps::LaeMotorWarnVoltage = 0x04
	under/over voltage
static const int	laelaps::LaeQuadPulsesPerRev = 64
	pulses/motor revolution
static const double	laelaps::LaeMotorGearRatio = 30.0
	gear ratio
static const double	laelaps::LaeMotorRatedMaxRpm = 350.0
	max output shaft rpm
static const double	laelaps::LaeMotorStallTorque = 0.776771
	stall torque (N-m) @5A
static const double	laelaps::LaeMotorRatedAmps = 5.0
	motor rated max amps.
static const double	laelaps::LaeMotorMaxAmps = 30.0
	max amp limit/motor
static const double	laelaps::LaeMotorMaxAmps_2_0 = 2.5
	max amp limit/motor
static const double	laelaps::LaeMotorMaxAmps_2_1 = 5.0
	max amp limit/motor
static const byte_t	laelaps::LaeMotorCtlrChipSelect::LaeMotorCtlrCsHigh = LaeMotorCtlrAddrFront
	motor controller address associated with high signal
static const byte_t	laelaps::LaeMotorCtlrChipSelect::LaeMotorCtlrCsLow = LaeMotorCtlrAddrRear
	motor controller address associated with low signal
int	laelaps::LaeMotorCtlrChipSelect::m_pinGpio
int	laelaps::LaeMotorCtlrChipSelect::m_fdGpio

Detailed Description

Laelaps motors, encoders, and controllers.

The Laelaps currently uses Ion Motion Control's RoboClaw 30A motor controllers. The motors are...

The Laelaps two motor controllers control two motors each. The motors are attached to the internal side of the body and drive independent wheel-tire assemblies. The front controller controls the left-front and right-front wheels, while the back controller controls the left-rear and right-rear wheels.

The left side motors are mounted to the body such that they have normal sense of rotation. The right side motors have reverse sense.

Function Documentation

int LaeMotorCtlrChipSelect::close ( )

virtual

Close GPIO pin interface.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 98 of file laeMotor.cxx.

Referenced by Laelaps.WatchDog.WatchDog::attach(), and Laelaps.WatchDog.WatchDog::open().

{
  int   rc;

  if( m_fdGpio >= 0 )
  {
    rc = gpioClose(m_fdGpio);
  }

  m_pinGpio = -1;
  m_fdGpio  = -1;

  return rc == OK? LAE_OK: -LAE_ECODE_IO;
}

virtual bool laelaps::LaeMotorCtlrChipSelect::isOpen ( )

inlinevirtual

Test if connection is open.

Returns

Returns true or false.

Definition at line 230 of file laeMotor.h.

References laelaps::LaeMotorCtlrChipSelect::select().

Referenced by Laelaps.WatchDog.WatchDog::cmdConfigDPin(), Laelaps.WatchDog.WatchDog::cmdEnableAuxPort5V(), Laelaps.WatchDog.WatchDog::cmdEnableAuxPortBatt(), Laelaps.WatchDog.WatchDog::cmdEnableMotorCtlrs(), Laelaps.WatchDog.WatchDog::cmdGetFwVersion(), Laelaps.WatchDog.WatchDog::cmdPetTheDog(), Laelaps.WatchDog.WatchDog::cmdReadAPin(), Laelaps.WatchDog.WatchDog::cmdReadDPin(), Laelaps.WatchDog.WatchDog::cmdReadEnables(), Laelaps.WatchDog.WatchDog::cmdReadVoltages(), Laelaps.WatchDog.WatchDog::cmdResetRgbLed(), Laelaps.WatchDog.WatchDog::cmdSetAlarms(), Laelaps.WatchDog.WatchDog::cmdSetBatterySoC(), Laelaps.WatchDog.WatchDog::cmdSetRgbLed(), and Laelaps.WatchDog.WatchDog::cmdWriteDPin().

    {
      return m_fdGpio >= 0;
    }

int LaeMotorCtlrChipSelect::open ( int  pinGpio )

virtual

Open GPIO pin interface.

Parameters

pinGpio

The sysfs exported GPIO number.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 83 of file laeMotor.cxx.

{
  if( (m_fdGpio = gpioOpen(pinGpio)) < 0 )
  {
    LOGERROR("Failed to open motor controllers chip select on GPIO pin %d.",
        pinGpio);

    return -LAE_ECODE_NO_RSRC;
  }

  m_pinGpio = pinGpio;

  return LAE_OK;
}

void LaeMotorCtlrChipSelect::select ( int  fd, byte_t  addrSel  )

virtual

Motor controller select function.

The motor controllers are on a multi-drop serial bus. Serial does not support multiple tx drivers on the same bus. Since there are two motor controllers, each with a transmit line (odroid receive), the select function disconnects one tx while connects the target tx.

Parameters

fd	Open serial file descriptor.
addrSel	Target motor controller to be selected. Controllers are identified by their address.

Reimplemented from motor::roboclaw::RoboClawChipSelect.

Definition at line 113 of file laeMotor.cxx.

Referenced by laelaps::LaeMotorCtlrChipSelect::isOpen().

{
  int   value;

  if( addrSel != m_addrLast )
  {
    value = addrSel == LaeMotorCtlrCsHigh? 1: 0; 
    if( gpioQuickWrite(m_fdGpio, value) < 0 )
    {
      LOGWARN("Failed to select motor controller 0x%02x.", addrSel);
    }
    usleep(100);

    RoboClawChipSelect::select(fd, addrSel);
  }
}