Motors

APIs for motors. More...

Typedefs
typedef pbio_servo_t	pup_motor_t

Enumerations
enum	pup_direction_t { PUP_DIRECTION_CLOCKWISE = PBIO_DIRECTION_CLOCKWISE , PUP_DIRECTION_COUNTERCLOCKWISE = PBIO_DIRECTION_COUNTERCLOCKWISE }

Functions
pup_motor_t *	pup_motor_get_device (pbio_port_id_t port)
	Get the PUP motor device pointer of the motor specified by the port ID. More...
pbio_error_t	pup_motor_setup (pup_motor_t *motor, pup_direction_t positive_direction, bool reset_count)
	Setup the PUP motor with the specified direction, possibly resetting the encoder. More...
pbio_error_t	pup_motor_reset_count (pup_motor_t *motor)
	Reset the motor encoder. More...
int32_t	pup_motor_get_count (pup_motor_t *motor)
	Get the encoder value of the motor. More...
int32_t	pup_motor_get_speed (pup_motor_t *motor)
	Get the speed of rotation of the motor. More...
pbio_error_t	pup_motor_set_speed (pup_motor_t *motor, int speed)
	Set the speed of rotation of the motor. More...
int32_t	pup_motor_get_power (pup_motor_t *motor)
	Get the power of the motor. More...
pbio_error_t	pup_motor_set_power (pup_motor_t *motor, int power)
	Set the power of the motor. More...
pbio_error_t	pup_motor_stop (pup_motor_t *motor)
	Stop the motor in coast mode. More...
pbio_error_t	pup_motor_brake (pup_motor_t *motor)
	Stop the motor in brake mode. More...
pbio_error_t	pup_motor_hold (pup_motor_t *motor)
	Stop the motor and hold it. More...
bool	pup_motor_is_stalled (pup_motor_t *motor)
	Check if the motor is stalled. More...
int32_t	pup_motor_set_duty_limit (pup_motor_t *motor, int duty_limit)
	Lower the duty limit of the motor. \detail To restore the limit, call pup_motor_restore_duty_limit with the value returned as its argument. More...
void	pup_motor_restore_duty_limit (pup_motor_t *motor, int old_value)
	Restore the duty limit of the motor. More...

Detailed Description

APIs for motors.

Function Documentation

pup_motor_brake()

pbio_error_t pup_motor_brake

(

pup_motor_t *

motor

)

Stop the motor in brake mode.

Parameters

motor

PUP motor device pointer.

Returns

PBIO_SUCCESS or error number.

pup_motor_get_count()

int32_t pup_motor_get_count

(

pup_motor_t *

motor

)

Get the encoder value of the motor.

Parameters

motor

PUP motor device pointer.

Returns

Encoder value in degree.

pup_motor_get_device()

pup_motor_t * pup_motor_get_device

(

pbio_port_id_t

port

)

Get the PUP motor device pointer of the motor specified by the port ID.

If it fails, it outputs an error log and returns NULL.

Parameters

port	PUP port ID of the device.

Returns

PUP motor device pointer.

pup_motor_get_power()

int32_t pup_motor_get_power

(

pup_motor_t *

motor

)

Get the power of the motor.

Parameters

motor

PUP motor device pointer.

Returns

PWM (between -100 and +100).

pup_motor_get_speed()

int32_t pup_motor_get_speed

(

pup_motor_t *

motor

)

Get the speed of rotation of the motor.

Parameters

motor

PUP motor device pointer.

Returns

Speed in degree/sec.

pup_motor_hold()

pbio_error_t pup_motor_hold

(

pup_motor_t *

motor

)

Stop the motor and hold it.

Parameters

motor

PUP motor device pointer.

Returns

PBIO_SUCCESS or error number.

pup_motor_is_stalled()

bool pup_motor_is_stalled

(

pup_motor_t *

motor

)

Check if the motor is stalled.

Call pup_motor_set_duty_limit before actuating the motor to avoid applying the full motor torque.

Parameters

motor

PUP motor device pointer.

Returns

true or false.

pup_motor_reset_count()

pbio_error_t pup_motor_reset_count

(

pup_motor_t *

motor

)

Reset the motor encoder.

Parameters

motor

PUP motor device pointer.

Returns

PBIO_SUCCESS or error number.

pup_motor_restore_duty_limit()

void pup_motor_restore_duty_limit	(	pup_motor_t *	motor,
		int	old_value
	)

Restore the duty limit of the motor.

Parameters

motor	PUP motor device pointer.
old_value	Voltage returned from pup_motor_set_duty_limit.

pup_motor_set_duty_limit()

int32_t pup_motor_set_duty_limit	(	pup_motor_t *	motor,
		int	duty_limit
	)

Lower the duty limit of the motor. \detail To restore the limit, call pup_motor_restore_duty_limit with the value returned as its argument.

Parameters

motor	PUP motor device pointer.
duty_limit	new limit (0-100),

Returns

max voltage to restore the limit back to the original conditions.

pup_motor_set_power()

pbio_error_t pup_motor_set_power	(	pup_motor_t *	motor,
		int	power
	)

Set the power of the motor.

Parameters

motor	PUP motor device pointer.
power	Power between -100 and +100.

Returns

PBIO_SUCCESS or error number.

pup_motor_set_speed()

pbio_error_t pup_motor_set_speed	(	pup_motor_t *	motor,
		int	speed
	)

Set the speed of rotation of the motor.

Parameters

motor	PUP motor device pointer.
speed	Speed of rotation in degree/sec.

Returns

PBIO_SUCCESS or error number.

pup_motor_setup()

pbio_error_t pup_motor_setup	(	pup_motor_t *	motor,
		pup_direction_t	positive_direction,
		bool	reset_count
	)

Setup the PUP motor with the specified direction, possibly resetting the encoder.

It could return PBIO_ERROR_AGAIN and (PBIO_ERROR_NO_DEV, too), if it is called "too soon", in which case you should call this function again sometime later. Errors other than PBIO_ERROR_AGAIN are logged.

Parameters

motor	PUP motor device pointer.
positive_direction	Either PUP_DIRECTION_CLOCKWISE or PUP_DIRECTION_COUNTERCLOCKWISE to indicate the desiredi positive direction..
reset_count	Indicate if counter should be reset.

Returns

PBIO_SUCCESS or error number.

pup_motor_stop()

pbio_error_t pup_motor_stop

(

pup_motor_t *

motor

)

Stop the motor in coast mode.

Parameters

motor

PUP motor device pointer.

Returns

PBIO_SUCCESS or error number.