This project has been created to be able to easily communicate with a Roboteq Controller using an uart port on eg. an Arudino.
For platformIO-users, the easiest way is to add this line below in your platformio.ini file
lib_deps=
https://github.com/niclaslind/arduino-roboteqFor ArudinoIDE-users, the easiest way is to download this repo and put it in your local Arduino-library folder
int16_t readMotorAmps();
int16_t readMotorAmps(uint8_t channel);
int16_t readAnalogInputAfterConversion(uint8_t channel);
uint16_t readRotorAngle(uint8_t channel);
uint16_t readRawSinCosSensor(RoboteqApi::ReadRawSinCosSensorValue value);
bool readUserBooleanValue(uint8_t booleanVariable);
int16_t readBatteryAmps(uint8_t channel);
int32_t readBrushlessCountRelative(uint8_t channel);
int16_t readBLMotorSpeedInRpm(uint8_t channel);
int32_t readEncoderCounterAbsolut(uint8_t channel);
uint16_t readRawCanFrame();
int32_t readAbsoluteBrushlessCounter(uint8_t channel);
uint8_t readRawCanReceivedFramesCount();
int32_t readConvertedAnalogCommand(uint8_t channel);
int32_t readInternalPulseCommand(uint8_t channel);
int32_t readInternalSerialCommand(uint8_t channel);
uint32_t readRoboCanAliveNodesMap(uint8_t node);
int32_t readEncoderCountRelative(uint8_t channel);
uint32_t readDigitalInputs();
uint8_t readIndividualDigitalInputs(uint8_t digitalInputNumber);
uint16_t readDigitalOutputStatus();
uint8_t readDestinationReached(uint8_t channel);
int32_t readClosedLoopError(uint8_t channel);
int16_t readFeedback(uint8_t channel);
int16_t readFocAngleAdjust(uint8_t channel);
String readFirmwareID();
int16_t readFaultFlags();
int16_t readRuntimeStatusFlag(uint8_t channel);
uint8_t readStatusFlag();
uint8_t readHallSensorStates(uint8_t channel);
uint8_t isRoboCanNodeAlive(uint8_t nodeID);
uint16_t readSpektrumReceiver(uint8_t radioChannel);
uint8_t readLockStatus();
uint8_t readMotorCommandApplied(uint8_t channel);
int16_t readFieldOrientedControlMotorAmps(RoboteqApi::ReadFieldOrientedControlMotorAmpsValue value);
uint8_t readMagsensorTrackDetect(uint8_t channel);
uint8_t readMagsensorMarkers(RoboteqApi::ReadMagsensorMarkersValue value);
int16_t readMagsensorStatus();
int16_t readMagsensorTrackPosition(RoboteqApi::ReadMagsensorTrackPositionValue value);
int16_t readMagsensorGyroscope(uint8_t channel);
int16_t readMotorPowerOutputApplied(uint8_t channel);
uint16_t readPulseInput(uint8_t channel);
int16_t readPulseInputAfterConversion(uint8_t channel);
int16_t readEncoderMotorSpeedInRpm(uint8_t channel);
uint32_t readScriptChecksum();
int16_t readEncoderSpeedRelative(uint8_t channel);
int8_t readTemperature(RoboteqApi::ReadTemperatureValue value);
uint32_t readTime(RoboteqApi::ReadTimeValue &value);
int32_t readPositionRelativeTracking(uint8_t channel);
String readControlUnitTypeAndControllerModel();
uint32_t readMcuID(RoboteqApi::ReadMcuIdValue value);
uint16_t readVolts(RoboteqApi::ReadVoltsValue value);
String readVolts();
int32_t readUserIntegerVariable(uint8_t variableNumber);
int16_t readSlipFrequency(uint8_t channel); void setAcceleration(uint8_t channel, int32_t value);
void nextAcceleration(uint8_t channel, int32_t value);
void setUserBooleanVariable(uint8_t varNbr, bool value);
void spectrumBind(uint8_t channel);
void setEncoderCounters(uint8_t channel, int32_t value);
void setBrushlessCounter(uint8_t channel, int32_t value);
void setMotorCommandViaCan(uint8_t channel, int32_t value);
void canSend(uint8_t element, uint8_t value);
void resetIndividualDigitalOutBits(uint8_t outputNbr);
void setIndividualOutBits(uint8_t outputNbr);
void setDeceleration(uint8_t channel, int32_t value);
void setAllDigitalOutBits(uint8_t value);
void nextDecceleration(uint8_t channel, int32_t value);
void saveConfigurationInEeprom();
void emergencyStop();
void goToSpeedOrRelativePosition(uint8_t channel, int32_t value);
void loadHomeCounter(uint8_t channel);
void emergencyStopRelease();
void stopInAllModes(uint8_t channel);
void goToAbsoluteDesiredPosition(uint8_t channel, int32_t value);
void goToRelativeDesiredPosition(uint8_t channel, int32_t value);
void nextGoToRelativeDesiredPosition(uint8_t channel, int32_t value);
void nextGoToAbsoluteDesiredPosition(uint8_t channel, int32_t value);
void microBasicRun(uint8_t mode);
void setPulseOut(uint8_t channel, int16_t value);
void setMotorSpeed(uint8_t channel, int32_t value);
void nextVelocity(uint8_t channel, int32_t value);
void setUserVarable(uint8_t varNbr, int32_t value);enum ReadRawSinCosSensorValue : uint8_t
{
SinInput1_SsiInput1 = 1,
CosInput1,
SinInput2_SsiInput2,
CosInput2
};
enum ReadFieldOrientedControlMotorAmpsValue : uint8_t
{
FluxAmps1 = 1,
TorqueAmps1,
FluxAmps2,
TorqueAmps2
};
/**
* @note: If only one sensor is enabled, only use variables for input1
*/
enum ReadMagsensorMarkersValue : uint8_t
{
LeftMarkerOfSensorAtPulseInput1 = 1,
RightMarkerOfSensorAtPulseInput1,
LeftMarkerOfSensorAtPulseInput2,
RightMarkerOfSensorAtPulseInput2
};
/**
* @note: If only one sensor is enabled, only use variables for input1
*/
enum ReadMagsensorTrackPositionValue : uint8_t
{
LeftTrackOfSensorAtPulseInput1 = 1,
RightTrackOfSensorAtPulseInput1,
ActiveTrackOfSensorAtPulseInput1,
LeftTrackOfSensorAtPulseInput2,
RightTrackOfSensorAtPulseInput2,
ActiveTrackOfSensorAtPulseInput2
};
enum ReadTemperatureValue : uint8_t
{
McuTemperature = 1,
Channel1Side,
Channel2Side,
};
enum ReadTimeValue : uint8_t
{
Seconds = 1,
Minutes,
Hours,
DayOfMonth,
Month,
YearInFull
};
enum ReadMcuIdValue : uint8_t
{
McuType = 1,
McuDeviceId,
McuUniqueId1,
McuUniqueId2,
McuUniqueId3,
};
enum ReadVoltsValue : uint8_t
{
InternalVolts = 1,
BatteryVolts,
FiveVoltsOutput,
};// Initialise a object with the right uart port
RoboteqSerial roboteqSerial{Serial1};
void setup()
{
// You need to explicitly start the uart-port whit the right baud rate
Serial1.begin(115200);
}
void loop()
{
// An exemple to run a runtime-query
int amps = roboteqSerial.readMotorAmps(1); // Read motor amps on channel 1
// An exemple to run a motorcommand
roboteqSerial.goToRelativeDesiredPosition(1, 200); // Go to position 200 on channel 1
}This project is licensed under the terms of the MIT license.