Difference between revisions of "Component: Actuators (BL0127) (E-blocks 2)"

From Flowcode Help
Jump to navigationJump to search
Line 17: Line 17:
 
==Component Source Code==
 
==Component Source Code==
  
−
Please click here for the component source code: [https://www.flowcode.co.uk/wikicopy/componentsource/FC_Comp_Source_EBlocks2_Actuators_BL0127.fcfx FC_Comp_Source_EBlocks2_Actuators_BL0127.fcfx]
+
Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_EBlocks2_Actuators_BL0127.fcfx FC_Comp_Source_EBlocks2_Actuators_BL0127.fcfx]
  
 
==Detailed description==
 
==Detailed description==
 +
 +
  
  
Line 32: Line 34:
  
 
==Examples==
 
==Examples==
 +
 +
  
  
Line 51: Line 55:
  
 
==Macro reference==
 
==Macro reference==
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DCMotor_DC_Feedback'''
 +
|-
 +
| colspan="2" |  
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DCMotor_Reverse'''
 +
|-
 +
| colspan="2" | Set the motor turning in the reverse direction by setting the pins according to the 'Reverse Pattern' property. 
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
 +
| width="90%" | Duty
 +
|-
 +
| colspan="2" | Sets the motor power for PWM or H-Bridge outputs 
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Servo_MoveToPosition'''
 +
|-
 +
| colspan="2" | Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called.  Returns 1 if the position has been reached. 
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to assign the new position. Range: 0-7 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Position
 +
|-
 +
| colspan="2" | Target position to move towards. Range: 0-255 
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DCMotor_Enable'''
 +
|-
 +
| colspan="2" | Enables the motor output 
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Stepper_DisableMotor'''
 +
|-
 +
| colspan="2" | Turn off the motor.  It will no longer respond to any other macros. 
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Stepper_IncrementStep'''
 +
|-
 +
| colspan="2" | Move the motor forward by one step. 
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Servo_EnableServo'''
 +
|-
 +
| colspan="2" | Enables a servo channel effectivly setting the position of the motor to the value in the local position variable. 
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to set the position for.  First channel is zero. 
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Servo_SetAutoMoveSpeed'''
 +
|-
 +
| colspan="2" | Sets the speed of the auto move to position macro.  Default speed is shown in the Servo_Period_Multiplier property. 
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Speed
 +
|-
 +
| colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple 
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Servo_MoveToPositionInt'''
 +
|-
 +
| colspan="2" | Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called.  Returns 1 if the position has been reached. 
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to assign the new position. Range: 0-7 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
 +
| width="90%" | Position
 +
|-
 +
| colspan="2" | Target position to move towards. Range: 0-65535 
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DCMotor_Coast'''
 +
|-
 +
| colspan="2" | Turn off power to the motor by setting the pins according to the 'Coast Pattern' property. 
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Servo_IsAutoMoving'''
 +
|-
 +
| colspan="2" | Is the AutoMoveToPosition movement complete.  Returns 1 if the servos are still moving.  Returns 0 if all servo movement is complete. 
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Servo_IsServoAutoMoving'''
 +
|-
 +
| colspan="2" | Is the AutoMoveToPosition movement complete for a specific servo output.  Returns 1 if the servo is still moving.  Returns 0 if the servo movement is complete. 
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | Servo Motor Output Range: 0-7 
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Stepper_DecrementStep'''
 +
|-
 +
| colspan="2" | Move the motor backwards by one step. 
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Servo_SetPositionInt'''
 +
|-
 +
| colspan="2" | Moves directly to the specified position with no interpolation. Uses a 16-bit position parameter to add extra precision. 
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to assign the new position. Range: 0-7 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
 +
| width="90%" | Position
 +
|-
 +
| colspan="2" | Position to jump to. Range: 0-65535 
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Servo_SetTrim'''
 +
|-
 +
| colspan="2" | Allows the level of trim for each servo channel to be adjusted progmatically. 
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to set the position for.  First channel is zero. 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Trim
 +
|-
 +
| colspan="2" | Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200 
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DCMotor_Break'''
 +
|-
 +
| colspan="2" | Actively drives both ends of the motor by setting the pins according to the 'Brake Pattern' property. 
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Servo_Initialise'''
 +
|-
 +
| colspan="2" | Sets up the servo motor interrupts 
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DCMotor_Forwards'''
 +
|-
 +
| colspan="2" | Set the motor turning in the forwards direction by setting the pins according to the 'Forwards Pattern' property. 
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
 +
| width="90%" | Duty
 +
|-
 +
| colspan="2" | Sets the motor power for PWM or H-Bridge outputs 
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Servo_SetAutoMoveSpeedInt'''
 +
|-
 +
| colspan="2" | Sets the speed of the auto move to position macro.  Default speed is shown in the Servo_Period_Multiplier property. 
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
 +
| width="90%" | Speed
 +
|-
 +
| colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple 
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DCMotor_Disable'''
 +
|-
 +
| colspan="2" | Disable the motor output 
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Stepper_EnableMotor'''
 +
|-
 +
| colspan="2" | Turn on the motor.  This must be done before it will respond to any other macros. 
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Servo_SetPosition'''
 +
|-
 +
| colspan="2" | Moves directly to the specified position with no interpolation.  
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to assign the new position. Range: 0-7 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Position
 +
|-
 +
| colspan="2" | Position to jump to. Range: 0-255 
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DCMotor_DC_FeedbackSim'''
 +
|-
 +
| colspan="2" |  
 +
|-
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Servo_AutoMoveToPosition'''
 +
|-
 +
| colspan="2" | Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed. 
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to assign the new position. Range: 0-7 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Position
 +
|-
 +
| colspan="2" | Position to automatically move to. Range: 0-255 
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Servo_AutoMoveToPositionInt'''
 +
|-
 +
| colspan="2" | Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed. 
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to assign the new position. Range: 0-7 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
 +
| width="90%" | Position
 +
|-
 +
| colspan="2" | Position to automatically move to. Range: 0-65535 
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Servo_DisableServo'''
 +
|-
 +
| colspan="2" | Disables a servo channel effectivly disabling the motor. 
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 +
| width="90%" | Channel
 +
|-
 +
| colspan="2" | The channel to set the position for.  First channel is zero. 
 +
|-
 +
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 +
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 +
|}
 +
 +
 +
 +
 +
==Property reference==
 +
 +
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 +
|-
 +
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
 +
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
 +
| width="90%" | Connection Type
 +
|-
 +
| colspan="2" |  
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
 +
| width="90%" | DC Feedback type
 +
|-
 +
| colspan="2" | Select if the feedback is a digital or analogue value. Note, if using an Arduino shield and port D is selected, then only digital type will be available.  
 +
|-
 +
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
 +
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-19-icon.png]]
 +
| width="90%" | Port
 +
|-
 +
| colspan="2" | Port C is not available on the Arduino shield, If port C is slected, it will default to port B. 
 +
|-
 +
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
 +
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Servo
 +
|-
 +
|-
 +
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
 +
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Trim
 +
|-
 +
|-
 +
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
 +
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Pulse Width
 +
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
 +
| width="90%" | Minimum (us)
 +
|-
 +
| colspan="2" | Shortest pulse width that will be used in microseconds. 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
 +
| width="90%" | Maximum (us)
 +
|-
 +
| colspan="2" | Longest pulse width used for the PWM signals  in microseconds.. 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
 +
| width="90%" | Period Multiplier
 +
|-
 +
| colspan="2" | Number of instructions for 1 / 256th of the positional accuracy. This sets the default movement speed to maintain legacy move speeds. Also sets the multiplication factor to convert from a byte 0-255 to a clocked position value. 
 +
|}==Macro reference==
  
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"

Revision as of 15:14, 20 January 2023

Author Matrix TSL
Version 1.0
Category E-blocks 2


Actuators component

The Actuators board allows for investigation into several different motor types. Included on the board is a DC motor with both analogue and digital feedback, a servo motor and a stepper motor plus the circuitry to drive the motors.

Component Source Code

Please click here to view the component source code (Beta): FC_Comp_Source_EBlocks2_Actuators_BL0127.fcfx

Detailed description

No detailed description exists yet for this component

Examples

Sample program using the EBM020 - Infrared sensor.

Transmits a signal and determines distance from reflected value

FC6 Icon.png EBM020 Example


Macro reference

Fc9-comp-macro.png DCMotor_DC_Feedback
 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png DCMotor_Reverse
Set the motor turning in the reverse direction by setting the pins according to the 'Reverse Pattern' property. 
Fc9-u16-icon.png - UINT Duty
Sets the motor power for PWM or H-Bridge outputs 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_MoveToPosition
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached. 
Fc9-u8-icon.png - BYTE Channel
The channel to assign the new position. Range: 0-7 
Fc9-u8-icon.png - BYTE Position
Target position to move towards. Range: 0-255 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png DCMotor_Enable
Enables the motor output 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Stepper_DisableMotor
Turn off the motor. It will no longer respond to any other macros. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Stepper_IncrementStep
Move the motor forward by one step. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_EnableServo
Enables a servo channel effectivly setting the position of the motor to the value in the local position variable. 
Fc9-u8-icon.png - BYTE Channel
The channel to set the position for. First channel is zero. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_SetAutoMoveSpeed
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property. 
Fc9-u8-icon.png - BYTE Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_MoveToPositionInt
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached. 
Fc9-u8-icon.png - BYTE Channel
The channel to assign the new position. Range: 0-7 
Fc9-u16-icon.png - UINT Position
Target position to move towards. Range: 0-65535 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png DCMotor_Coast
Turn off power to the motor by setting the pins according to the 'Coast Pattern' property. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_IsAutoMoving
Is the AutoMoveToPosition movement complete. Returns 1 if the servos are still moving. Returns 0 if all servo movement is complete. 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png Servo_IsServoAutoMoving
Is the AutoMoveToPosition movement complete for a specific servo output. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete. 
Fc9-u8-icon.png - BYTE Channel
Servo Motor Output Range: 0-7 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png Stepper_DecrementStep
Move the motor backwards by one step. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_SetPositionInt
Moves directly to the specified position with no interpolation. Uses a 16-bit position parameter to add extra precision. 
Fc9-u8-icon.png - BYTE Channel
The channel to assign the new position. Range: 0-7 
Fc9-u16-icon.png - UINT Position
Position to jump to. Range: 0-65535 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_SetTrim
Allows the level of trim for each servo channel to be adjusted progmatically. 
Fc9-u8-icon.png - BYTE Channel
The channel to set the position for. First channel is zero. 
Fc9-u8-icon.png - BYTE Trim
Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png DCMotor_Break
Actively drives both ends of the motor by setting the pins according to the 'Brake Pattern' property. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_Initialise
Sets up the servo motor interrupts 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png DCMotor_Forwards
Set the motor turning in the forwards direction by setting the pins according to the 'Forwards Pattern' property. 
Fc9-u16-icon.png - UINT Duty
Sets the motor power for PWM or H-Bridge outputs 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_SetAutoMoveSpeedInt
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property. 
Fc9-u16-icon.png - UINT Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png DCMotor_Disable
Disable the motor output 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Stepper_EnableMotor
Turn on the motor. This must be done before it will respond to any other macros. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_SetPosition
Moves directly to the specified position with no interpolation.  
Fc9-u8-icon.png - BYTE Channel
The channel to assign the new position. Range: 0-7 
Fc9-u8-icon.png - BYTE Position
Position to jump to. Range: 0-255 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png DCMotor_DC_FeedbackSim
 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png Servo_AutoMoveToPosition
Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed. 
Fc9-u8-icon.png - BYTE Channel
The channel to assign the new position. Range: 0-7 
Fc9-u8-icon.png - BYTE Position
Position to automatically move to. Range: 0-255 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_AutoMoveToPositionInt
Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed. 
Fc9-u8-icon.png - BYTE Channel
The channel to assign the new position. Range: 0-7 
Fc9-u16-icon.png - UINT Position
Position to automatically move to. Range: 0-65535 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_DisableServo
Disables a servo channel effectivly disabling the motor. 
Fc9-u8-icon.png - BYTE Channel
The channel to set the position for. First channel is zero. 
Fc9-void-icon.png - VOID Return



Property reference

Fc9-prop-icon.png Properties
Fc9-type-16-icon.png Connection Type
 
Fc9-type-16-icon.png DC Feedback type
Select if the feedback is a digital or analogue value. Note, if using an Arduino shield and port D is selected, then only digital type will be available.  
Fc9-conn-icon.png Connections
Fc9-type-19-icon.png Port
Port C is not available on the Arduino shield, If port C is slected, it will default to port B. 
Fc9-conn-icon.png Servo
Fc9-conn-icon.png Trim
Fc9-conn-icon.png Pulse Width
Fc9-type-21-icon.png Minimum (us)
Shortest pulse width that will be used in microseconds. 
Fc9-type-21-icon.png Maximum (us)
Longest pulse width used for the PWM signals in microseconds.. 
Fc9-type-21-icon.png Period Multiplier
Number of instructions for 1 / 256th of the positional accuracy. This sets the default movement speed to maintain legacy move speeds. Also sets the multiplication factor to convert from a byte 0-255 to a clocked position value. 

==Macro reference==

Fc9-comp-macro.png DCMotor_DC_Feedback
 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png DCMotor_Reverse
Set the motor turning in the reverse direction by setting the pins according to the 'Reverse Pattern' property. 
Fc9-u16-icon.png - UINT Duty
Sets the motor power for PWM or H-Bridge outputs 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_MoveToPosition
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached. 
Fc9-u8-icon.png - BYTE Channel
The channel to assign the new position. Range: 0-7 
Fc9-u8-icon.png - BYTE Position
Target position to move towards. Range: 0-255 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png DCMotor_Enable
Enables the motor output 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Stepper_DisableMotor
Turn off the motor. It will no longer respond to any other macros. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Stepper_IncrementStep
Move the motor forward by one step. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_EnableServo
Enables a servo channel effectivly setting the position of the motor to the value in the local position variable. 
Fc9-u8-icon.png - BYTE Channel
The channel to set the position for. First channel is zero. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_SetAutoMoveSpeed
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property. 
Fc9-u8-icon.png - BYTE Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_MoveToPositionInt
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached. 
Fc9-u8-icon.png - BYTE Channel
The channel to assign the new position. Range: 0-7 
Fc9-u16-icon.png - UINT Position
Target position to move towards. Range: 0-65535 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png DCMotor_Coast
Turn off power to the motor by setting the pins according to the 'Coast Pattern' property. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_IsAutoMoving
Is the AutoMoveToPosition movement complete. Returns 1 if the servos are still moving. Returns 0 if all servo movement is complete. 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png Servo_IsServoAutoMoving
Is the AutoMoveToPosition movement complete for a specific servo output. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete. 
Fc9-u8-icon.png - BYTE Channel
Servo Motor Output Range: 0-7 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png Stepper_DecrementStep
Move the motor backwards by one step. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_SetPositionInt
Moves directly to the specified position with no interpolation. Uses a 16-bit position parameter to add extra precision. 
Fc9-u8-icon.png - BYTE Channel
The channel to assign the new position. Range: 0-7 
Fc9-u16-icon.png - UINT Position
Position to jump to. Range: 0-65535 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_SetTrim
Allows the level of trim for each servo channel to be adjusted progmatically. 
Fc9-u8-icon.png - BYTE Channel
The channel to set the position for. First channel is zero. 
Fc9-u8-icon.png - BYTE Trim
Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png DCMotor_Break
Actively drives both ends of the motor by setting the pins according to the 'Brake Pattern' property. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_Initialise
Sets up the servo motor interrupts 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png DCMotor_Forwards
Set the motor turning in the forwards direction by setting the pins according to the 'Forwards Pattern' property. 
Fc9-u16-icon.png - UINT Duty
Sets the motor power for PWM or H-Bridge outputs 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_SetAutoMoveSpeedInt
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property. 
Fc9-u16-icon.png - UINT Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png DCMotor_Disable
Disable the motor output 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Stepper_EnableMotor
Turn on the motor. This must be done before it will respond to any other macros. 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_SetPosition
Moves directly to the specified position with no interpolation.  
Fc9-u8-icon.png - BYTE Channel
The channel to assign the new position. Range: 0-7 
Fc9-u8-icon.png - BYTE Position
Position to jump to. Range: 0-255 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png DCMotor_DC_FeedbackSim
 
Fc9-u8-icon.png - BYTE Return


Fc9-comp-macro.png Servo_AutoMoveToPosition
Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed. 
Fc9-u8-icon.png - BYTE Channel
The channel to assign the new position. Range: 0-7 
Fc9-u8-icon.png - BYTE Position
Position to automatically move to. Range: 0-255 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_AutoMoveToPositionInt
Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed. 
Fc9-u8-icon.png - BYTE Channel
The channel to assign the new position. Range: 0-7 
Fc9-u16-icon.png - UINT Position
Position to automatically move to. Range: 0-65535 
Fc9-void-icon.png - VOID Return


Fc9-comp-macro.png Servo_DisableServo
Disables a servo channel effectivly disabling the motor. 
Fc9-u8-icon.png - BYTE Channel
The channel to set the position for. First channel is zero. 
Fc9-void-icon.png - VOID Return



Property reference

Fc9-prop-icon.png Properties
Fc9-type-16-icon.png Connection Type
 
Fc9-type-16-icon.png DC Feedback type
Select if the feedback is a digital or analogue value. Note, if using an Arduino shield and port D is selected, then only digital type will be available.  
Fc9-conn-icon.png Connections
Fc9-type-19-icon.png Port
Port C is not available on the Arduino shield, If port C is slected, it will default to port B. 
Fc9-conn-icon.png Servo
Fc9-conn-icon.png Trim
Fc9-conn-icon.png Pulse Width
Fc9-type-21-icon.png Minimum (us)
Shortest pulse width that will be used in microseconds. 
Fc9-type-21-icon.png Maximum (us)
Longest pulse width used for the PWM signals in microseconds.. 
Fc9-type-21-icon.png Period Multiplier
Number of instructions for 1 / 256th of the positional accuracy. This sets the default movement speed to maintain legacy move speeds. Also sets the multiplication factor to convert from a byte 0-255 to a clocked position value. 
Retrieved from "https://www.flowcode.co.uk/wiki/index.php?title=Component:_Actuators_(BL0127)_(E-blocks_2)&oldid=32518"