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
  • interface_position2d interface_power interface_position1d interface_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 river.nosp@m.a@cs.nosp@m.e.unr.nosp@m..edu
Mike Roddewig mrrod.nosp@m.dew@.nosp@m.mtu.e.nosp@m.du