Component: Actuators (BL0127) (E-blocks 2)

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.

Version information

Library Version, Component Version, Date, Author, Info
4, 1.0, 08-05-25, BR, Added autodetect port on Ev_PostInitialise

Detailed description

No detailed description exists yet for this component

Examples

Demo program using the Eblocks 2 Actuators Board BL0127 connected to BL0011 PIC programmer BL0127 Actuators Demo for PIC

Macro reference

DCMotor_Break

	DCMotor_Break
Actively drives both ends of the motor by setting the pins according to the 'Brake Pattern' property.
- VOID	Return

DCMotor_Coast

	DCMotor_Coast
Turn off power to the motor by setting the pins according to the 'Coast Pattern' property.
- VOID	Return

DCMotor_DC_Feedback

	DCMotor_DC_Feedback
- BYTE	Return

DCMotor_DC_FeedbackSim

	DCMotor_DC_FeedbackSim
- BYTE	Return

DCMotor_Disable

	DCMotor_Disable
Disable the motor output
- VOID	Return

DCMotor_Enable

	DCMotor_Enable
Enables the motor output
- VOID	Return

DCMotor_Forwards

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

DCMotor_Reverse

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

Servo_AutoMoveToPosition

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

Servo_AutoMoveToPositionInt

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

Servo_DisableServo

	Servo_DisableServo
Disables a servo channel effectivly disabling the motor.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- VOID	Return

Servo_EnableServo

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

Servo_Initialise

	Servo_Initialise
Sets up the servo motor interrupts
- VOID	Return

Servo_IsAutoMoving

	Servo_IsAutoMoving
Is the AutoMoveToPosition movement complete. Returns 1 if the servos are still moving. Returns 0 if all servo movement is complete.
- BYTE	Return

Servo_IsServoAutoMoving

	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.
- BYTE	Channel
Servo Motor Output Range: 0-7
- BYTE	Return

Servo_MoveToPosition

	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.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Target position to move towards. Range: 0-255
- BYTE	Return

Servo_MoveToPositionInt

	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.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Target position to move towards. Range: 0-65535
- BYTE	Return

Servo_SetAutoMoveSpeed

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

Servo_SetAutoMoveSpeedInt

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

Servo_SetPosition

	Servo_SetPosition
Moves directly to the specified position with no interpolation.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Position to jump to. Range: 0-255
- VOID	Return

Servo_SetPositionInt

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

Servo_SetTrim

	Servo_SetTrim
Allows the level of trim for each servo channel to be adjusted progmatically.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- 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
- VOID	Return

Stepper_DecrementStep

	Stepper_DecrementStep
Move the motor backwards by one step.
- VOID	Return

Stepper_DisableMotor

	Stepper_DisableMotor
Turn off the motor. It will no longer respond to any other macros.
- VOID	Return

Stepper_EnableMotor

	Stepper_EnableMotor
Turn on the motor. This must be done before it will respond to any other macros.
- VOID	Return

Stepper_IncrementStep

	Stepper_IncrementStep
Move the motor forward by one step.
- VOID	Return

Property reference

	Properties
	Connection Type
	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.
	Connections
	Port
Port C is not available on the Arduino shield, If port C is slected, it will default to port B.
	Servo
	Trim
	Pulse Width
	Minimum (us)
Shortest pulse width that will be used in microseconds.
	Maximum (us)
Longest pulse width used for the PWM signals in microseconds..
	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.

Component Source Code

Please click here to download the component source project: FC_Comp_Source_EB_Actuators_BL0127.fcfx

Please click here to view the component source code (Beta): FC_Comp_Source_EB_Actuators_BL0127.fcfx