MC Namespace Reference

Methods used to more easily interface with RMS Motor controllers over CAN bus. More...

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

Detailed Description

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

Function Documentation

enableMotorBeating()

void MC::enableMotorBeating

(

bool

enable

)

Start MC heartbeat function, establishing a connection with the MCs.

Parameters

enable

getLastBrakeValue()

int MC::getLastBrakeValue

(

)

Get the last brake value that was internally used.

Returns

int the last brake value that was internally used

getLastPedalValue()

int MC::getLastPedalValue

(

void

)

Get the last pedal value that was internally used.

Returns

int the last pedal value that was internally used

getLastSteerValue()

int MC::getLastSteerValue

(

)

Get the last steer value that was internally used.

Returns

int the last steer value that was internally used

getLastTorqueValue()

int MC::getLastTorqueValue

(

bool

mc0

)

Get the last torque percent value sent to a MC.

Parameters

mc0	return the value for MC0, otherwise MC1

Returns

int the last torque percent value that was sent

isForward()

bool MC::isForward

(

void

)

Get whether the motors will spin forward.

Returns

true The motors will spin forward

false The motors will spin in reverse

motorSpeed()

int32_t MC::motorSpeed

(

int

motor = -1

)

Get the avg motorspeed.

Parameters

motor

0 or 1 for either motor or nothing for

Returns

int32_t

sendTorque()

void MC::sendTorque	(	uint32_t	MC_ADD,
		int	torque,
		bool	direction,
		bool	enableBit
	)

Send a raw torque command to a MC.

Note

enableMotorBeating must have been set to false before calling this function

Parameters

MC_ADD	The specific motor controller address
torque	The torque to set the motor at
direction	direction of the motor
enableBit	whether the motor should be enabled

setDirection()

void MC::setDirection

(

bool

runForward

)

Set the direction of the motors.

Parameters

runForward

whether the motors should spin forwards

setTorque()

void MC::setTorque	(	int	pedal,
		int	brake,
		int	steer
	)

Calculate and set the torque of both MCs.

Note

enableMotorBeating must have been set to false before calling this function

Parameters

pedal	The raw value of the pedal
brake	The raw value of the brake
steer	The raw value of the steering wheel