roboteq

Motor control driver for Roboteq AX2850. More...

Motor control driver for Roboteq AX2850.

Provides position2d interface to the Roboteq AX2850 motor controller http://www.roboteq.com/ax2850-folder.html

Compile-time dependencies

• none

Provides

• position2d power position1d dio

Requires

• None

Configuration requests

• none

Configuration file options

• devicepath (string)
  • Default: none
  • The serial port to be used.

• baud (integer)
  • Default: 9600
  • The baud rate to be used.

• motor_control_mode (integer)
  • Default: ( 1 - open loop separate speed if no encoder, 197 - A&B mixed speed closed loop if encoders)
  • options (0-255 see Roboteq Motor Control Mode documentation)
    • 3 (A&B position analog feedback type)

• encoder_ppr
  • Default: 500
  • The number of pulses per revolution for the encoders. Optional if no encoders are present.

• wheel_circumference
  • Default: 1 meter
  • The wheel circumference in meters. Optional if no encoders present.

• axle_length
  • Default: 1 meter
  • The distance between the centers of the two wheels. Optional if no encoders present.

• gear_ratio
  • Default: 1
  • The gear ratio from the motor to the wheel (the number of motor revolutions per one revolution of the wheel). Optional if no encoders present.

• controller_current_limit
  • Default: 105 amperes
  • The maximum current to the motors. See the Roboteq manual.

• acceleration
  • Default: 0x20
  • The acceleration time constant. See the Roboteq manual.

• encoder_time_base
  • Default: 0x16
  • The encoder time base. Optional if no encoders are present. See the Roboteq manual.

• encoder_distance_divider
  • Default: 0x08
  • The encoder distance divider. Optional if no encoders are present. See the Roboteq manual.

• invert_directions
  • Default: false (off)
  • Invert the motor directions, useful if you find the motors turning in the opposite direction from what you intended...

• rc_mode_on_shutdown
  • Default: true (on)
  • Set the motor controller to RC mode when the driver shuts down.

Properties

• ch1_min_pos
  • Default -0.1
  • Minimum position in rad/m limit for channel 1 mootor when using position1d interface

• ch2_min_pos
  • Default -0.1
  • Minimum position in rad/m limit for channel 2 mootor when using position1d interface

• ch1_max_pos
  • Default 0.1
  • Maximum position in rad/m limit for channel 1 mootor when using position1d interface

• ch2_max_pos
  • Default 0.1
  • Maximum position in rad/m limit for channel 2 mootor when using position1d interface

• ch1_dpos_per_tick (float)
  • Default: 0.01
  • change in channel 1 position in rad/m per roboteq tick when using position1d interface

• ch2_dpos_per_tick (float)
  • Default: 0.01
  • change in channel 2 position per roboteq tick when using position1d interface

• Example

  driver
  (
    name "roboteq"
    provides ["position2d:0" "power:0"]
    devicepath "/dev/ttyS0"
  )
  

# Position1d interfaces
driver
(
  name "roboteq"
  provides ["position1d:0" "position1d:1"]
  devicepath "/dev/ttyS0"
  motor_control_mode "3"
  ch1_min_pos "-1.0"
  ch1_max_pos "1.0"
  ch2_min_pos "-10.0"
  ch2_max_pos "10.0"
)  

Author:

Pablo Rivera rivera@cse.unr.edu

Mike Roddewig mrroddew@mtu.edu