actuators_faulhaber.h File Reference

#include "std.h"

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Data Structures
struct	faulhaber_t

Macros
#define	ACTUATORS_FAULHABER_COMMAND_SCALE   1000.0f
#define	ActuatorsFaulhaberInit()   actuators_faulhaber_init()
#define	ActuatorFaulhaberSet(_i, _v)   { faulhaber.setpoint_position = ((get_servo_max_FAULHABER(0)-_v) + get_servo_min_FAULHABER(0))*ACTUATORS_FAULHABER_COMMAND_SCALE; }
#define	ActuatorsFaulhaberCommit()   {}

Enumerations
enum	faulhaber_modes_t {   FH_MODE_INIT , FH_MODE_VELOCITY , FH_MODE_ERROR , FH_MODE_REQ_ERR ,   FH_MODE_RESET_ERR }

Functions
void	actuators_faulhaber_init (void)
void	actuators_faulhaber_periodic (void)
void	actuators_faulhaber_event (void)
void	actuators_faulhaber_SetMode (uint8_t mode)

Variables
struct faulhaber_t	faulhaber

Detailed Description

Author

Freek van Tienen Serial Connection module between ap and a faulhaber motor controller

Definition in file actuators_faulhaber.h.

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Data Structure Documentation

faulhaber_t

struct faulhaber_t

Definition at line 40 of file actuators_faulhaber.h.

Data Fields
bool	homing_completed	Once the homing is completed.
int32_t	max_velocity	The maximum velocity of the controller.
enum faulhaber_modes_t	mode	Current mode of the controller.
float	p_gain	The proportional gain of the velocity controller.
bool	position_ready	Ready for receiving (new) positions.
int32_t	real_position	The real position from the feedback of the controller.
int32_t	setpoint_position	The setpoint position controlled from the actuator.
uint8_t	state	The state of the mode.
bool	target_reached	When the target position is reached.
int32_t	target_velocity	The target velocity send to the controller.

Macro Definition Documentation

ActuatorFaulhaberSet

#define ActuatorFaulhaberSet	(		_i,
			_v
	)		{ faulhaber.setpoint_position = ((get_servo_max_FAULHABER(0)-_v) + get_servo_min_FAULHABER(0))*ACTUATORS_FAULHABER_COMMAND_SCALE; }

Definition at line 71 of file actuators_faulhaber.h.

ACTUATORS_FAULHABER_COMMAND_SCALE

#define ACTUATORS_FAULHABER_COMMAND_SCALE   1000.0f

Definition at line 63 of file actuators_faulhaber.h.

ActuatorsFaulhaberCommit

#define ActuatorsFaulhaberCommit

(

)

{}

Definition at line 72 of file actuators_faulhaber.h.

ActuatorsFaulhaberInit

#define ActuatorsFaulhaberInit

(

)

actuators_faulhaber_init()

Definition at line 70 of file actuators_faulhaber.h.

Enumeration Type Documentation

faulhaber_modes_t

enum faulhaber_modes_t

Enumerator
FH_MODE_INIT
FH_MODE_VELOCITY
FH_MODE_ERROR
FH_MODE_REQ_ERR
FH_MODE_RESET_ERR

Definition at line 32 of file actuators_faulhaber.h.

Function Documentation

actuators_faulhaber_event()

void actuators_faulhaber_event

(

void

)

Definition at line 457 of file actuators_faulhaber.c.

References faulhaber_dev, faulhaber_p, faulhaber_parse_msg(), faulhaber_parser(), GOT_FULL_PACKET, faulhaber_parser_t::state, uart_char_available(), uart_getch(), and UINIT.

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actuators_faulhaber_init()

void actuators_faulhaber_init

(

void

)

Definition at line 167 of file actuators_faulhaber.c.

References faulhaber, FAULHABER_MAX_VELOCITY, faulhaber_p, FAULHABER_P_GAIN, FH_MODE_INIT, faulhaber_t::homing_completed, faulhaber_t::max_velocity, faulhaber_t::mode, faulhaber_t::p_gain, faulhaber_t::position_ready, faulhaber_t::real_position, faulhaber_t::setpoint_position, faulhaber_parser_t::state, faulhaber_t::state, faulhaber_t::target_reached, and UINIT.

actuators_faulhaber_periodic()

void actuators_faulhaber_periodic

(

void

)

Definition at line 182 of file actuators_faulhaber.c.

References faulhaber, faulhaber_dev, faulhaber_send_command(), FH_MODE_ERROR, FH_MODE_INIT, FH_MODE_REQ_ERR, FH_MODE_RESET_ERR, FH_MODE_VELOCITY, get_sys_time_float(), faulhaber_t::homing_completed, last_time, faulhaber_t::max_velocity, faulhaber_t::mode, faulhaber_t::p_gain, faulhaber_t::real_position, faulhaber_t::setpoint_position, faulhaber_t::state, and faulhaber_t::target_velocity.

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actuators_faulhaber_SetMode()

void actuators_faulhaber_SetMode

(

uint8_t

mode

)

Definition at line 468 of file actuators_faulhaber.c.

References faulhaber, faulhaber_t::mode, mode, and faulhaber_t::state.

Variable Documentation

faulhaber

struct faulhaber_t faulhaber

extern

Definition at line 45 of file actuators_faulhaber.c.

Referenced by actuators_faulhaber_init(), actuators_faulhaber_periodic(), actuators_faulhaber_SetMode(), and faulhaber_parse_msg().