Component: Control (AllCode)
From Flowcode Help
Jump to navigationJump to search| Author | Matrix TSL |
| Version | 1.0 |
| Category | AllCode |
Contents
- 1 Control component
- 2 Component Source Code
- 3 Detailed description
- 4 Examples
- 5 Macro reference
- 5.1 CheckErrorStatus
- 5.2 GetAPI
- 5.3 GetDataArray
- 5.4 GetFeedback
- 5.5 GetOutput
- 5.6 GetPIDComponent
- 5.7 GetWifiIP
- 5.8 Initialise
- 5.9 ResetToBoot
- 5.10 SetAutoOnOff
- 5.11 SetAutoOnOffParam
- 5.12 SetAutoPID
- 5.13 SetAutoPIDFlip
- 5.14 SetAutoPIDParam
- 5.15 SetAutoPrescaler
- 5.16 SetBluetoothDetails
- 5.17 SetBluetoothMode
- 5.18 SetCANID
- 5.19 SetCANMode
- 5.20 SetEthernetIP
- 5.21 SetEthernetMode
- 5.22 SetEthernetPort
- 5.23 SetFeedbackMethod
- 5.24 SetLogDivider
- 5.25 SetManualDuty
- 5.26 SetSetpoint
- 5.27 SetWIFIPort
- 5.28 SetWifiDetails
- 5.29 SetWifiMode
- 5.30 ZeroSensor
- 6 Property reference
Control component
Drives the Matrix Control hardware via the AllCode API.
Component Source Code
Please click here to download the component source project: FC_Comp_Source_temp/Control_ComponentSource.fcsx
Please click here to view the component source code (Beta): FC_Comp_Source_temp/Control_ComponentSource.fcsx
Detailed description
No detailed description exists yet for this component
Examples
No additional examples
Macro reference
CheckErrorStatus
|
CheckErrorStatus |
| Returns the Error status value indicating if there has been any errors. 0 = No Error 1 = Timeout Error | |
 - BYTE
|
Return |
GetAPI
|
|
GetAPI |
| Gets the API version number | |
| - BYTE
|
Return |
GetDataArray
|
|
GetDataArray |
| Collects a data array from the Control board. Returns number of samples collected. | |
 - FLOAT
|
data |
| - BYTE
|
Return |
GetFeedback
|
|
GetFeedback |
| Gets the feedback as a value in real world units | |
| - FLOAT
|
Return |
GetOutput
|
|
GetOutput |
| Gets the output value as an integer value betwen 0 and 100 representing the output PWM duty | |
| - BYTE
|
Return |
GetPIDComponent
|
|
GetPIDComponent |
| Gets one of the PID controller output components in real world units | |
| - BYTE
|
Index |
| Range 0-2, 0=P, 1=I, 2=D | |
| - FLOAT
|
Return |
GetWifiIP
|
|
GetWifiIP |
| Collects the IP address of the robot arm WIFI connection. | |
 - STRING
|
Return |
Initialise
|
|
Initialise |
 - VOID
|
Return |
ResetToBoot
|
|
ResetToBoot |
| Resets the board into bootload mode for reprogramming. Comms port will be closed on calling this macro, | |
| - VOID
|
Return |
SetAutoOnOff
|
|
SetAutoOnOff |
| Enable the auto PID control using the on-board microcontroller | |
| - BYTE
|
Channel |
| Range: 0-1 | |
| - BYTE
|
Enable |
| 0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz | |
| - VOID
|
Return |
SetAutoOnOffParam
|
|
SetAutoOnOffParam |
| Sets the Hysteresis parameter for the Auto on-board On/Off | |
| - FLOAT
|
Hysteresis |
| Hysterists in real world units | |
| - VOID
|
Return |
SetAutoPID
|
|
SetAutoPID |
| Enable the auto PID control using the on-board microcontroller | |
| - BYTE
|
Channel |
| Range: 0-1 | |
| - BYTE
|
Enable |
| 0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz | |
| - VOID
|
Return |
SetAutoPIDFlip
|
|
SetAutoPIDFlip |
| Controls if the PID response is flipped, a negative response vs a positive | |
 - BOOL
|
Flip |
| Default: 0=Not Flipped, 1=Flipped | |
| - VOID
|
Return |
SetAutoPIDParam
|
|
SetAutoPIDParam |
| Sets one of the P, I, D parameters for the Auto on-board PID | |
| - BYTE
|
Index |
| Range: 0-5 Where 0=P, 1=I, 2=D, 3=IntClamp, 4=DFilt, 5=FiltCo | |
| - FLOAT
|
Value |
| Range: 0.0 to 65.535 | |
| - VOID
|
Return |
SetAutoPrescaler
|
|
SetAutoPrescaler |
| Configures the automatic mode prescaler, for running really slowly. Defaults off so no need to call this unless you are using it. | |
| - BYTE
|
Prescaler |
| 0=Off, 2=Div by 2, 3=Div By 3 etc | |
| - VOID
|
Return |
SetBluetoothDetails
|
|
SetBluetoothDetails |
| Configures the Bluetooth device name and pin and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change. | |
| - STRING
|
Name |
| Bluetooth Device String, Max 20 Characters | |
| - STRING
|
Pin |
| Pin String, 4 Numeric Characters e.g. "1234" | |
| - VOID
|
Return |
SetBluetoothMode
|
|
SetBluetoothMode |
| Configures the Bluetooth mode. | |
| - BOOL
|
Mode |
| 0=Disabled, 1=Enabled | |
| - VOID
|
Return |
SetCANID
|
|
SetCANID |
| Stores the specified CAN ID into an internal none volatile memory location. | |
 - UINT
|
ID |
| - VOID
|
Return |
SetCANMode
|
|
SetCANMode |
| Configures if the CAN API mde is enabled or disabled. | |
| - BYTE
|
Mode |
| 0=Disabled / 1=Enabled | |
| - VOID
|
Return |
SetEthernetIP
|
|
SetEthernetIP |
| Configures the Ethernet IP Address. | |
| - STRING
|
IP |
| IP Address string e.g. "192.168.1.100" | |
| - VOID
|
Return |
SetEthernetMode
|
|
SetEthernetMode |
| Configures the Ethernet mode. | |
| - BYTE
|
Mode |
| 0=Disabled, 1=Enabled | |
| - VOID
|
Return |
SetEthernetPort
|
|
SetEthernetPort |
| Configures the Ethernet Port number. Default 1245. | |
| - UINT
|
Port |
| Default 1245 | |
| - VOID
|
Return |
SetFeedbackMethod
|
|
SetFeedbackMethod |
| Sets feedback method to dictate which control application we are running | |
| - BYTE
|
FBMethod |
| Range: 0-3 Where 0=Level, 1=Flow, 2=Pressure, 3=Temp | |
| - FLOAT
|
InputScaler |
| Feedback scaling factor used to convert the feedback reading into a meaningful value | |
| - FLOAT
|
OutputScaler |
| Value used to convert input to 0-100% duty | |
| - VOID
|
Return |
SetLogDivider
|
|
SetLogDivider |
| Configures the rate of the PID logging. | |
| - BYTE
|
Divider |
| Divides the rate by the selected value | |
| - VOID
|
Return |
SetManualDuty
|
|
SetManualDuty |
| Sets duty parameter for one of the manual controlled outputs | |
| - BYTE
|
Channel |
| Range: 0-1 | |
| - FLOAT
|
Duty |
| Duty Cycle Output in Percentage Range 0 - 100% | |
| - VOID
|
Return |
SetSetpoint
|
|
SetSetpoint |
| Sets Setpoint parameter for the Auto on-board PID | |
| - FLOAT
|
Setpoint |
| Required Output in Real World Units | |
| - VOID
|
Return |
SetWIFIPort
|
|
SetWIFIPort |
| Configures the WIFI Port number. Default 1245. | |
| - UINT
|
Port |
| Default 1245 | |
| - VOID
|
Return |
SetWifiDetails
|
|
SetWifiDetails |
| Configures the WIFI SSID and Password strings and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change. | |
| - STRING
|
SSID |
| Netword ID String, Max 32 Characters | |
| - STRING
|
Password |
| Password String, Max 32 Characters | |
| - VOID
|
Return |
SetWifiMode
|
|
SetWifiMode |
| Configures the WIFI mode. When enabled the control system can either create its own WIFI network or join an existing WIFI network, | |
| - BYTE
|
Mode |
| 0=Disabled, 1=Host Network, 2=Join Network | |
| - VOID
|
Return |
ZeroSensor
|
|
ZeroSensor |
| Zeros the attached sensor reading. Useful for Pressure and Level control applications. | |
| - VOID
|
Return |
Property reference
|
Properties |
|
Comms Method |
| Selects the method to communicate with the Matrix 3 Axis Robot Arm. USB connection requires the USB drivers to be installed. Bluetooth connection requires the device first be paired using the Windows Bluetooth control panel. WIFI connection requires the connection settings to be configured first on the robot using USB or Bluetooth. CAN connection does not simulate and works on embedded hardware e.g. the MIAC. | |
|
COM Port Settings |
|
Autodetect |
| Autodetects the COM port, only works for USB AllCode connection. | |
|
|
COM Port |
| Selects which port to communicate with, only lists ports which are currently available. | |
|
Text Colour |
