robotics/include/motorconfig3.h File Reference

#include "esos.h"
#include "esos_pic24.h"
#include "motor3.h"

Go to the source code of this file.

Defines
#define	NUM_MOTORS_USED_3   1
#define	MOTOR_PRESCALER_3   64
#define	MOTOR_IRQ_LEVEL_3   2
#define	MOTOR_PULSE_PERIOD_3   usToU16Ticks(400, MOTOR_PRESCALER_3);
Motor 3 Ports
Each motor requires three ports (two for direction and one for PWM). For each MOTOR_3_<n>_DIR_PORT_1 and MOTOR_3_<n>_DIR_PORT_2 (where 'n' <= NUM_MOTORS_USED_3) assign a port. These ports should also correspond to a CONFIG_RB<n>_AS_DIG_OUTPUT() call in CONFIG_MOTOR_3_<n>. Additionally in CONFIG_MOTOR_3_<n>, the PWM port for motor 'n' is assigned in the CONFIG_OC<n>_TO_RP() call. See CONFIG_MOTOR_3_1() for an example.
#define	MOTOR_3_1_DIR_PORT_1   _LATB8
#define	MOTOR_3_1_DIR_PORT_2   _LATB7
#define	CONFIG_MOTOR_3_1()
#define	MOTOR_3_2_DIR_PORT_1   _LATB<X>
#define	MOTOR_3_2_DIR_PORT_2   _LATB<Y>
#define	CONFIG_MOTOR_3_2()
#define	MOTOR_3_3_DIR_PORT_1   _LATB<X>
#define	MOTOR_3_3_DIR_PORT_2   _LATB<Y>
#define	CONFIG_MOTOR_3_3()
#define	MOTOR_3_4_DIR_PORT_1   _LATB<X>
#define	MOTOR_3_4_DIR_PORT_2   _LATB<Y>
#define	CONFIG_MOTOR_3_4()
#define	MOTOR_3_5_DIR_PORT_1   _LATB<X>
#define	MOTOR_3_5_DIR_PORT_2   _LATB<Y>
#define	CONFIG_MOTOR_3_5()
#define	MOTOR_3_6_DIR_PORT_1   _LATB<X>
#define	MOTOR_3_6_DIR_PORT_2   _LATB<Y>
#define	CONFIG_MOTOR_3_6()
#define	MOTOR_3_7_DIR_PORT_1   _LATB<X>
#define	MOTOR_3_7_DIR_PORT_2   _LATB<Y>
#define	CONFIG_MOTOR_3_7()
#define	MOTOR_3_8_DIR_PORT_1   _LATB<X>
#define	MOTOR_3_8_DIR_PORT_2   _LATB<Y>
#define	CONFIG_MOTOR_3_8()

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Detailed Description

Author:

Thomas Donaldson

Take a look at the motor example project in the robotics directory.

It is recommended to copy the motor3 library files (both .c and .h) over to the local project directory. This allows for editing motorconfig2.h without affecting the original library.

This header file serves as the main point of motor3 configuration, while motor3.h and motor3.c provide implement motor operation. In order to configure motors for your needs:

1. Appropriately insert a:

    #define ESOS_USE_IRQS 
   

2. Define the number of motors this file will operate in NUM_MOTORS_USED_3.
3. For each motor to be used, correctly define its Motor 3 Ports group.
4. In your startup code, insert this call to initialize the motor system:

    initialize_motor_3(); 
   

To choose the the state and speed of each motor, make a call to update_motor_3(). For example, setting motor 4 to 75% speed forward:

 update_motor_3(MOTOR_3_4, MOTOR_FORWARD, usToU16Ticks(300, MOTOR_PRESCALER_3)); 

For more advanced usage, MOTOR_PRESCALER_3 chooses the prescaler for the Timer. The default setting works well for Fosc = 40 MHz. Also, MOTOR_IRQ_LEVEL_3 adjusts the interrupt's priority.

Note:

This code uses Timer3 and the Timer3 interrupt to operate the motors. Therefore, do not modify Timer3 values, interrupts, etc... to insure proper operation of this code.

Definition in file motorconfig3.h.

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Define Documentation

 

#define CONFIG_MOTOR_3_1

(

)

Value:

{CONFIG_RB8_AS_DIG_OUTPUT(); \
                              CONFIG_RB7_AS_DIG_OUTPUT(); \
                              CONFIG_OC1_TO_RP(6);}

Configures the ports as digital outputs and assigns the output-compare (PWM) port. It must map correctly to MOTOR_3_1_DIR_PORT_1 and MOTOR_3_1_DIR_PORT_2. The CONFIG_OC1_TO_RP() takes a parameter of which maps to a PIC24 pin.

Definition at line 85 of file motorconfig3.h.

#define MOTOR_3_1_DIR_PORT_1   _LATB8

Maps the "forward" direction pin to a PIC24 port. This is linked with CONFIG_MOTOR_3_<n>, be sure to edit them correspondingly.

Definition at line 73 of file motorconfig3.h.

#define MOTOR_3_1_DIR_PORT_2   _LATB7

Maps the "reverse" direction pin to a PIC24 port. This is linked with CONFIG_MOTOR_3_<n>, be sure to edit them correspondingly.

Definition at line 78 of file motorconfig3.h.

#define MOTOR_IRQ_LEVEL_3   2

Defined as the desired timer interrupt priority. For systems running on ESOS, the available choices are 1-4, with 1 being the highest. Otherwise, the available choices are 1-7, with 7 being the highest.

Definition at line 54 of file motorconfig3.h.

#define MOTOR_PRESCALER_3   64

Defined as the desired timer prescaler. Available prescalers are 1, 8, 64, and 256.

Definition at line 48 of file motorconfig3.h.

#define MOTOR_PULSE_PERIOD_3   usToU16Ticks(400, MOTOR_PRESCALER_3);

Defines the period during which all servos are updated. Defaults to a 400us period (2.5 KHz).

Definition at line 58 of file motorconfig3.h.

#define NUM_MOTORS_USED_3   1

Specifies the number of motors this library will operate. Valid values are from 1 to MAX_NUM_MOTORS_3. This number should correspond with the number of Motor 3 Ports that are assigned

Definition at line 44 of file motorconfig3.h.