MotorService Class Reference

#include <motor.h>

Classes
struct	MotorFaultIndicator

Public Member Functions
	MotorService (const RobotConstants_t &robot_constants, int control_loop_frequency_hz)
TbotsProto::MotorStatus	poll (const TbotsProto::MotorControl &motor_control, double time_elapsed_since_last_poll_s)
uint8_t	tmc4671ReadWriteByte (uint8_t motor, uint8_t data, uint8_t last_transfer)
uint8_t	tmc6100ReadWriteByte (uint8_t motor, uint8_t data, uint8_t last_transfer)
void	startEncoderCalibration (uint8_t motor)
void	endEncoderCalibration (uint8_t motor)
void	runOpenLoopCalibrationRoutine (uint8_t motor, size_t num_samples)
void	resetMotorBoard ()
void	setup ()
struct MotorFaultIndicator	checkDriverFault (uint8_t motor)
void	setUpDriveMotor (uint8_t motor)
void	writeIntToTMC4671 (uint8_t motor, uint8_t address, int32_t value)
int	readIntFromTMC4671 (uint8_t motor, uint8_t address)

Static Public Attributes
static const uint8_t	FRONT_LEFT_MOTOR_CHIP_SELECT = 0
static const uint8_t	FRONT_RIGHT_MOTOR_CHIP_SELECT = 3
static const uint8_t	BACK_LEFT_MOTOR_CHIP_SELECT = 1
static const uint8_t	BACK_RIGHT_MOTOR_CHIP_SELECT = 2

Detailed Description

A service that interacts with the motor.

It is responsible for:

• Converting Euclidean velocities to wheel velocities
• Communicating with the motor
• Detecting and handling faults

Constructor & Destructor Documentation

MotorService()

MotorService	(	const RobotConstants_t &	robot_constants,
		int	control_loop_frequency_hz
	)

Service that interacts with the motor board. Opens all the required ports and maintains them until destroyed.

Parameters

RobotConstants_t	The robot constants
control_loop_frequency_hz	The frequency the main loop will call poll at

Member Function Documentation

checkDriverFault()

MotorService::MotorFaultIndicator checkDriverFault

(

uint8_t

motor

)

Log the driver fault in a human readable log msg

Parameters

motor

The motor to log the status for

Returns

a struct containing the motor faults and whether the motor was disabled due to the fault

poll()

TbotsProto::MotorStatus poll	(	const TbotsProto::MotorControl &	motor_control,
		double	time_elapsed_since_last_poll_s
	)

When the motor service is polled with a DirectControlPrimitive msg, call the appropriate trinamic api function to spin the appropriate motor.

Parameters

motor	The motor msg to unpack and execute on the motors
time_elapsed_since_last_poll_s	The time since last poll was called in seconds

Returns

MotorStatus The status of all the drive units

readIntFromTMC4671()

int readIntFromTMC4671	(	uint8_t	motor,
		uint8_t	address
	)

Used for testing purposes:

Wrapper function that reads int from the TMC4671

Parameters

motor	drive motor number
address	motor address

Returns

read value

resetMotorBoard()

void resetMotorBoard

(

)

Reset the motor board by toggling the reset GPIO appropriately. Effectively stops the motors from moving.

runOpenLoopCalibrationRoutine()

void runOpenLoopCalibrationRoutine	(	uint8_t	motor,
		size_t	num_samples
	)

Spin the motor in openloop mode (safe to run before encoder initialization)

Captures TMC4671_OPENLOOP_PHI and TMC4671_ABN_DECODER_PHI_E and stores it in encoder_calibration.csv

Captures adc_iv, adc_ux, adc_wy and pwm_iv, pwm_ux, pwm_wy.

WARNING: Make sure adc_iv is in phase with pwm_iv, adc_ux is in phase with pwm_ux, and adc_wy is in phase with pwm_wy.

If you dont do this, you can risk burning the motor.

Parameters

motor	The motor to spin in openloop mode
num_samples	The number of samples to take on each

setup()

void setup

(

)

Clears previous faults, configures the motor and checks encoder connections.

setUpDriveMotor()

void setUpDriveMotor

(

uint8_t

motor

)

Sets up motor as drive motor controllers

Parameters

motor

drive motor number

tmc4671ReadWriteByte()

uint8_t tmc4671ReadWriteByte	(	uint8_t	motor,
		uint8_t	data,
		uint8_t	last_transfer
	)

Trinamic API binding, sets spi_demux_select_0|1 pins appropriately and calls readWriteByte. See C++ implementation file for more info

Parameters

motor	Which motor to talk to (in our case, the chip select)
data	The data to send
last_transfer	The last transfer of uint8_t data for this transaction.

Returns

A byte read from the trinamic chip

writeIntToTMC4671()

void writeIntToTMC4671	(	uint8_t	motor,
		uint8_t	address,
		int32_t	value
	)

Used for testing purposes:

Wrapper function that writes int to the TMC4671

Parameters

motor	drive motor number
address	motor address
value	write value

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The documentation for this class was generated from the following files:

• src/software/embedded/services/motor.h
• src/software/embedded/services/motor.cpp