MotorControl.h File Reference

Motor Controller module. More...

#include "Canbus.h"
#include "Heartbeat.h"
#include "stdint.h"

Go to the source code of this file.

Namespaces
namespace	MC
	Methods used to more easily interface with RMS Motor controllers over CAN bus.

Macros
#define	CONF_MAXIMUM_SWITCHING_SPEED   5
	The maximum speed value that the car can be moving before it switches between forwards and reverse.

Functions
void	MC::setup (void)
	Initialize MC heartbeat function and clear faults, if any.
void	MC::setupBuffers (void)
	Only initialize MC buffers, called by MC::setup.
void	MC::clearFaults (void)
	Clear MC faults by sending a clear fault command.
void	MC::enableMotorBeating (bool enable)
	Start MC heartbeat function, establishing a connection with the MCs.
void	MC::sendTorque (uint32_t MC_ADD, int torque, bool direction, bool enableBit)
	Send a raw torque command to a MC.
void	MC::setDirection (bool runForward)
	Set the direction of the motors.
bool	MC::isForward (void)
	Get whether the motors will spin forward.
int	MC::getLastTorqueValue (bool mc0)
	Get the last torque percent value sent to a MC.
int	MC::getLastPedalValue (void)
	Get the last pedal value that was internally used.
int	MC::getLastBrakeValue ()
	Get the last brake value that was internally used.
int	MC::getLastSteerValue ()
	Get the last steer value that was internally used.
int32_t	MC::motorSpeed (int motor=-1)
	Get the avg motorspeed.
void	MC::setTorque (int pedal, int brake, int steer)
	Calculate and set the torque of both MCs.

Detailed Description

Motor Controller module.

Author

IR

Version

0.1

Date

2021-05-04

Copyright

Copyright (c) 2022

This module is a collection of functions that are used to ease the control of both Motor controllers over canbus.

The Motor controllers require a periodic message to be send when it is not being actively controlled, This is mainly controlled with MC::enableMotorBeating()

It is important to be aware of delays in code as if the Motors controllers do not receive a value in time, they will fault.

Faults can, however, be cleared by using MC::clearFaults()

See also

Faults.h for more info on viewing faults

Definition in file MotorControl.h.

Macro Definition Documentation

CONF_MAXIMUM_SWITCHING_SPEED

#define CONF_MAXIMUM_SWITCHING_SPEED   5

The maximum speed value that the car can be moving before it switches between forwards and reverse.

Definition at line 39 of file MotorControl.h.