Arduino Library for Roboteq Motor Controllers

This project has been created to be able to easily communicate with a Roboteq Controller using an uart port on eg. an Arudino.

Getting Started

PlatformIO

For platformIO-users, the easiest way is to add this line below in your platformio.ini file

  lib_deps=
    https://github.com/niclaslind/arduino-roboteq

Arduino IDE

For ArudinoIDE-users, the easiest way is to download this repo and put it in your local Arduino-library folder

Runtime-queries

    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);

Motorcommands

    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 values

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,
};

How to use

// 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
}

LICENSE

This project is licensed under the terms of the MIT license.