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
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
|
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Stepper_DisableMotor |
| Turn off the motor. It will no longer respond to any other macros. | |
| - VOID
|
Return |
Stepper_EnableMotor
|
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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 |
|
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Trim |
|
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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_EBlocks2_Actuators_BL0127.fcfx
Please click here to view the component source code (Beta): FC_Comp_Source_EBlocks2_Actuators_BL0127.fcfx