mindsensors.MMX Class Reference

MMX: this class provides motor control functions for use with NXTMMX Raspberry Pi i2c baud rate must be 35000 or less to ensure proper functionality of NXTMMX. More...

Inheritance diagram for mindsensors.MMX:

Public Member Functions
def	__init__
	Initialize the class with the i2c address of your NXTMMX. More...
def	command
	Writes a specified command on the command register of the NXTMMX. More...
def	resPos
	Reset the both motor encoders of the NXTMMX. More...
def	battVoltage
	Reads the battery voltage. More...
def	pos
	Reads the encoder position of the specified motor. More...
def	setSpeed
	Run the motor(s) at a set speed for an unlimited duration. More...
def	brake
	Stop the motor with abruptly with brake. More...
def	float
	Stop the motor smoothly with float. More...
def	hold
	Stop the motor abruptly and hold the current position. More...
def	isBusy
	Check if the motor is running. More...
def	waitUntilNotBusy
	Wait until the motor is no longer running. More...
def	isStalled
	Check if the motor is stalled. More...
def	isOverloaded
	Check if the motor is overloaded. More...
def	runSecs
	Run the motor for a specific time in seconds. More...
def	runDegs
	Run the motor for a specific amount of degrees. More...
def	runRotations
	Run the motor for a specific amount of rotations. More...
def	runEncoderPos
	Run the motor for a specific amount of rotations. More...
def	SetPerformanceParameters
	Writes user specified values to the PID control registers. More...
def	ReadPerformanceParameters
	Reads the values of the PID control registers. More...

Static Public Attributes
tuple	MMX_ADDRESS = (0x06)
	Default NXTMMX I2C Address.
int	MMX_VOLTAGE_MULTIPLIER = 37
	Constant Voltage Multipler.
int	MMX_Motor_1 = 0x01
	Constant to specify Motor 1.
int	MMX_Motor_2 = 0x02
	Constant to specify Motor 2.
int	MMX_Motor_Both = 0x03
	Constant to specify both Motors.
int	MMX_Next_Action_Float = 0x00
	Constant to specify Float Action.
int	MMX_Next_Action_Brake = 0x01
	Constant to specify Brake Action.
int	MMX_Next_Action_BrakeHold = 0x02
	Constant to specify Hold Action.
int	MMX_Direction_Forward = 0x01
	Constant to specify Forward Motion.
int	MMX_Direction_Reverse = 0x00
	Constant to specify Reverse Motion.
int	MMX_Move_Relative = 0x01
	Constant to specify Relative Encoder Position.
int	MMX_Move_Absolute = 0x00
	Constant to specify Absolute Encoder Position.
int	MMX_Completion_Wait_For = 0x01
	Constant to Wait for Next Action.
int	MMX_Completion_Dont_Wait = 0x00
	Constant to NOT Wait for Next Action.
int	MMX_Speed_Full = 90
	Constant for commonly used Full Speed value.
int	MMX_Speed_Medium = 60
	Constant for commonly used Moderate Speed value.
int	MMX_Speed_Slow = 25
	Constant for commonly used Slow Speed value.
int	MMX_CONTROL_SPEED = 0x01
	Constant to specify Speed bit of Motor Control byte.
int	MMX_CONTROL_RAMP = 0x02
	Constant to specify Ramp bit of Motor Control byte.
int	MMX_CONTROL_RELATIVE = 0x04
	Constant to specify Relative bit of Motor Control byte.
int	MMX_CONTROL_TACHO = 0x08
	Constant to specify Tacho bit of Motor Control byte.
int	MMX_CONTROL_BRK = 0x10
	Constant to specify Brake bit of Motor Control byte.
int	MMX_CONTROL_ON = 0x20
	Constant to specify On bit of Motor Control byte.
int	MMX_CONTROL_TIME = 0x40
	Constant to specify Time bit of Motor Control byte.
int	MMX_CONTROL_GO = 0x80
	Constant to specify Go bit of Motor Control byte.
int	MMX_COMMAND = 0x41
	Command Register.
int	MMX_SETPT_M1 = 0x42
	Motor 1 Encoder Target Register.
int	MMX_SPEED_M1 = 0x46
	Motor 1 Speed Register.
int	MMX_TIME_M1 = 0x47
	Motor 1 Time Register.
int	MMX_CMD_B_M1 = 0x48
	Motor 1 Motor Command B Register.
int	MMX_CMD_A_M1 = 0x49
	Motor 1 Motor Command A Register.
int	MMX_SETPT_M2 = 0x4A
	Motor 2 Encoder Target Register.
int	MMX_SPEED_M2 = 0x4E
	Motor 2 Speed Register.
int	MMX_TIME_M2 = 0x4F
	Motor 2 Time Register.
int	MMX_CMD_B_M2 = 0x50
	Motor 1 Motor Command B Register.
int	MMX_CMD_A_M2 = 0x51
	Motor 1 Motor Command A Register.
int	MMX_POSITION_M1 = 0x62
	Motor 1 Encoder Position Register. More...
int	MMX_POSITION_M2 = 0x66
	Motor 2 Encoder Position Register. More...
int	MMX_STATUS_M1 = 0x72
	Motor 1 Status Register. More...
int	MMX_STATUS_M2 = 0x73
	Motor 2 Status Register. More...
int	MMX_TASKS_M1 = 0x76
	Motor 1 Tasks Register. More...
int	MMX_TASKS_M2 = 0x77
	Motor 2 Tasks Register. More...
int	MMX_P_Kp = 0x7A
	Position Kp Register.
int	MMX_P_Ki = 0x7C
	Position Ki Register.
int	MMX_P_Kd = 0x7E
	Position Kd Register.
int	MMX_S_Kp = 0x80
	Speed Kp Register.
int	MMX_S_Ki = 0x82
	Speed Ki Register.
int	MMX_S_Kd = 0x84
	Speed Kd Register.
int	MMX_PASSCOUNT = 0x86
	Pass Count Register.
int	MMX_PASSTOLERANCE = 0x87
	Pass Tolerance Register.

Detailed Description

MMX: this class provides motor control functions for use with NXTMMX Raspberry Pi i2c baud rate must be 35000 or less to ensure proper functionality of NXTMMX.

Constructor & Destructor Documentation

def mindsensors.MMX.__init__	(		self,
			mmx_address = MMX_ADDRESS
	)

Initialize the class with the i2c address of your NXTMMX.

Parameters

self	The object pointer.
mmx_address	Address of your NXTMMX.

Member Function Documentation

def mindsensors.MMX.battVoltage

(

self

)

Reads the battery voltage.

Parameters

self	The object pointer.

def mindsensors.MMX.brake	(		self,
			motor_number
	)

Stop the motor with abruptly with brake.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to brake.

def mindsensors.MMX.command	(		self,
			cmd
	)

Writes a specified command on the command register of the NXTMMX.

Parameters

self	The object pointer.
cmd	The command you wish the NXTMMX to execute.

def mindsensors.MMX.float	(		self,
			motor_number
	)

Stop the motor smoothly with float.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to float.

def mindsensors.MMX.hold	(		self,
			motor_number
	)

Stop the motor abruptly and hold the current position.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to hold.

def mindsensors.MMX.isBusy	(		self,
			motor_number
	)

Check if the motor is running.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to check.

def mindsensors.MMX.isOverloaded

(

self

)

Check if the motor is overloaded.

Parameters

self	The object pointer.

def mindsensors.MMX.isStalled	(		self,
			motor_number
	)

Check if the motor is stalled.

Parameters

motor_number	Number of the motor(s) you wish to check.
self	The object pointer.

def mindsensors.MMX.pos	(		self,
			motor_number
	)

Reads the encoder position of the specified motor.

Parameters

self	The object pointer.
motor_number	Number of the motor you wish to read.

def mindsensors.MMX.ReadPerformanceParameters

(

self

)

Reads the values of the PID control registers.

Parameters

self	The object pointer.

def mindsensors.MMX.resPos

(

self

)

Reset the both motor encoders of the NXTMMX.

Parameters

self	The object pointer.

def mindsensors.MMX.runDegs	(		self,
			motor_number,
			degs,
			speed,
			brakeOnCompletion = False,
			holdOnCompletion = False,
			waitForCompletion = False
	)

Run the motor for a specific amount of degrees.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to turn.
degs	The number of degrees to run the motor(s).
speed	The speed at which to turn the motor(s).
brakeOnCompletion	Choose to brake or float the motor upon completion with True (brake) or False (float).
holdOnCompletion	Choose to hold the motor position upon completion with True (hold) or False (release).
waitForCompletion	Tells the program when to handle the next line of code.

def mindsensors.MMX.runEncoderPos	(		self,
			motor_number,
			pos,
			speed,
			brakeOnCompletion = False,
			holdOnCompletion = False,
			waitForCompletion = False
	)

Run the motor for a specific amount of rotations.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to turn.
pos	The encoder value to which to run the motor(s).
speed	The speed at which to turn the motor(s).
brakeOnCompletion	Choose to brake or float the motor upon completion with True (brake) or False (float).
holdOnCompletion	Choose to hold the motor position upon completion with True (hold) or False (release).
waitForCompletion	Tells the program when to handle the next line of code.

def mindsensors.MMX.runRotations	(		self,
			motor_number,
			rotations,
			speed,
			brakeOnCompletion = False,
			holdOnCompletion = False,
			waitForCompletion = False
	)

Run the motor for a specific amount of rotations.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to turn.
rotations	The number of rotations to run the motor(s).
speed	The speed at which to turn the motor(s).
brakeOnCompletion	Choose to brake or float the motor upon completion with True (brake) or False (float).
holdOnCompletion	Choose to hold the motor position upon completion with True (hold) or False (release).
waitForCompletion	Tells the program when to handle the next line of code.

def mindsensors.MMX.runSecs	(		self,
			motor_number,
			secs,
			speed,
			brakeOnCompletion = False,
			waitForCompletion = False
	)

Run the motor for a specific time in seconds.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to turn.
secs	The number of seconds to run the motor.
speed	The speed at which to turn the motor.
brakeOnCompletion	Choose to brake or float the motor upon completion with True (brake) or False (float).
waitForCompletion	Wait until the motor is finished running before continuing the program.

def mindsensors.MMX.SetPerformanceParameters	(		self,
			Kp_tacho,
			Ki_tacho,
			Kd_tacho,
			Kp_speed,
			Ki_speed,
			Kd_speed,
			passcount,
			tolerance
	)

Writes user specified values to the PID control registers.

Parameters

self	The object pointer.
Kp_tacho	Proportional-gain of the encoder position of the motor.
Ki_tacho	Integral-gain of the encoder position of the motor.
Kd_tacho	Derivative-gain of the encoder position of the motor.
Kp_speed	Proportional-gain of the speed of the motor.
Ki_speed	Integral-gain of the speed of the motor.
Kd_speed	Derivative-gain of the speed of the motor.
passcount	The number of times the encoder reading should be within tolerance.
tolerance	The tolerance (in ticks) for encoder positioning .

def mindsensors.MMX.setSpeed	(		self,
			motor_number,
			speed
	)

Run the motor(s) at a set speed for an unlimited duration.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to turn.
speed	The speed at which you wish to turn the motor(s).

def mindsensors.MMX.waitUntilNotBusy	(		self,
			motor_number,
			timeout = -1
	)

Wait until the motor is no longer running.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to wait for.
timeout	The timeout value as a factor of 10ms.

Member Data Documentation

int mindsensors.MMX.MMX_POSITION_M1 = 0x62

static

Motor 1 Encoder Position Register.

Will return a long singed integer value

int mindsensors.MMX.MMX_POSITION_M2 = 0x66

static

Motor 2 Encoder Position Register.

Will return a long singed integer value

int mindsensors.MMX.MMX_STATUS_M1 = 0x72

static

Motor 1 Status Register.

Will return a byte value

int mindsensors.MMX.MMX_STATUS_M2 = 0x73

static

Motor 2 Status Register.

Will return a byte value

int mindsensors.MMX.MMX_TASKS_M1 = 0x76

static

Motor 1 Tasks Register.

Will return a byte value

int mindsensors.MMX.MMX_TASKS_M2 = 0x77

static

Motor 2 Tasks Register.

Will return a byte value

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

• PiStorms/sys/mindsensors.py