SmartDrive.SmartDrive Class Reference

SmartDrive: this class provides motor control functions. More...

Inheritance diagram for SmartDrive.SmartDrive:

Public Member Functions
def	__init__
	Initialize the class with the i2c address of your SmartDrive. More...
def	command
	Writes a specified command on the command register of the SmartDrive. More...
def	GetBattVoltage
	Reads the battery voltage. More...
def	ReadTachometerPosition
	Function not supported. More...
def	SmartDrive_Run_Unlimited
	Turns the specified motor(s) forever. More...
def	SmartDrive_Stop
	Stops the specified motor(s) More...
def	SmartDrive_Run_Seconds
	Turns the specified motor(s) for a given amount of seconds. More...
def	SmartDrive_WaitUntilTimeDone
	Waits until the specified time for the motor(s) to run is completed. More...
def	SmartDrive_IsTimeDone
	Checks to ensure the specified time for the motor(s) to run is completed. More...
def	SmartDrive_Run_Degrees
	Turns the specified motor(s) for given relative tacheometer count. More...
def	SmartDrive_Run_Rotations
	Turns the specified motor(s) for given relative tacheometer count. More...
def	SmartDrive_Run_Tacho
	Turns the specified motor(s) for given absolute tacheometer count. More...
def	SmartDrive_WaitUntilTachoDone
	Waits until the specified tacheomter count for the motor(s) to run is reached. More...
def	SmartDrive_IsTachoDone
	Checks to ensure the specified tacheomter count for the motor(s) to run is reached. More...
def	SetPerformanceParameters
	Writes user specified values to the PID control registers. More...
def	ReadPerformanceParameters
	Reads the values of the PID control registers. More...
Public Member Functions inherited from OpenElectrons_i2c.OpenElectrons_i2c
def	__init__
	Initialize the class with the i2c address of your device. More...
def	errMsg
	Prints an error message if a read error is detected. More...
def	writeByte
	Write a byte to your i2c device at a given location. More...
def	readByte
	Read an unsigned byte from your i2c device at a given location. More...
def	simpleWriteByte
	Write a byte to your i2c device at a given location. More...
def	simpleReadByte
	Read an unsigned byte from your i2c device at a given location. More...
def	readByteSigned
	Read a signed byte from your i2c device at a given location. More...
def	readArray
	Read a byte array from your i2c device starting at a given location. More...
def	writeArray
	Write a byte array from your i2c device starting at a given location. More...
def	readString
	Read a string from your i2c device starting at a given location. More...
def	readIntegerBE
	Read an unsigned 16 bit integer from your i2c device from a given location. More...
def	readInteger
	Read an unsigned 16 bit integer from your i2c device from a given location. More...
def	readIntegerSignedBE
	Read a signed 16 bit integer from your i2c device from a given location. More...
def	readIntegerSigned
	Read a signed 16 bit integer from your i2c device from a given location. More...
def	readLongBE
	Read an unsigned 32bit integer from your i2c device from a given location. More...
def	readLong
	Read an unsigned 32bit integer from your i2c device from a given location. More...
def	readLongSignedBE
	Read a signed 32bit integer from your i2c device from a given location. More...
def	readLongSigned
	Read a signed 32bit integer from your i2c device from a given location. More...
def	GetFirmwareVersion
	Read the firmware version of the i2c device. More...
def	GetVendorName
	Read the vendor name of the i2c device. More...
def	GetDeviceId
	Read the i2c device id. More...

Static Public Attributes
tuple	SmartDrive_ADDRESS = (0x36)
float	SmartDrive_VOLTAGE_MULTIPLIER = 212.7
int	SmartDrive_Motor_1 = 0x01
int	SmartDrive_Motor_2 = 0x02
int	SmartDrive_Motor_Both = 0x03
int	SmartDrive_Next_Action_Float = 0x00
int	SmartDrive_Next_Action_Brake = 0x01
int	SmartDrive_Next_Action_BrakeHold = 0x02
int	SmartDrive_Direction_Forward = 0x01
int	SmartDrive_Direction_Reverse = 0x00
int	SmartDrive_Move_Relative = 0x01
int	SmartDrive_Move_Absolute = 0x00
int	SmartDrive_Completion_Wait_For = 0x01
int	SmartDrive_Completion_Dont_Wait = 0x00
int	SmartDrive_Speed_Full = 90
int	SmartDrive_Speed_Medium = 60
int	SmartDrive_Speed_Slow = 25
int	SmartDrive_CONTROL_SPEED = 0x01
int	SmartDrive_CONTROL_RAMP = 0x02
int	SmartDrive_CONTROL_RELATIVE = 0x04
int	SmartDrive_CONTROL_TACHO = 0x08
int	SmartDrive_CONTROL_BRK = 0x10
int	SmartDrive_CONTROL_ON = 0x20
int	SmartDrive_CONTROL_TIME = 0x40
int	SmartDrive_CONTROL_GO = 0x80
int	SmartDrive_COMMAND = 0x41
int	SmartDrive_SETPT_M1 = 0x42
int	SmartDrive_SPEED_M1 = 0x46
int	SmartDrive_TIME_M1 = 0x47
int	SmartDrive_CMD_B_M1 = 0x48
int	SmartDrive_CMD_A_M1 = 0x49
int	SmartDrive_SETPT_M2 = 0x4A
int	SmartDrive_SPEED_M2 = 0x4E
int	SmartDrive_TIME_M2 = 0x4F
int	SmartDrive_CMD_B_M2 = 0x50
int	SmartDrive_CMD_A_M2 = 0x51
int	SmartDrive_POSITION_M1 = 0x52
int	SmartDrive_POSITION_M2 = 0x56
int	SmartDrive_STATUS_M1 = 0x5A
int	SmartDrive_STATUS_M2 = 0x5B
int	SmartDrive_TASKS_M1 = 0x5C
int	SmartDrive_TASKS_M2 = 0x5D
int	SmartDrive_P_Kp = 0x5E
int	SmartDrive_P_Ki = 0x60
int	SmartDrive_P_Kd = 0x62
int	SmartDrive_S_Kp = 0x64
int	SmartDrive_S_Ki = 0x66
int	SmartDrive_S_Kd = 0x68
int	SmartDrive_PASSCOUNT = 0x6A
int	SmartDrive_PASSTOLERANCE = 0x6B
int	SmartDrive_CHKSUM = 0x6C
int	SmartDrive_BATT_VOLTAGE = 0x6E
int	SmartDrive_RESETSTATUS = 0x6F
int	SmartDrive_CURRENT_M1 = 0x70
int	SmartDrive_CURRENT_M2 = 0x72
int	R = 0x52
int	S = 0x53
int	a = 0x61
int	b = 0x62
int	c = 0x63
int	A = 0x41
int	B = 0x42
int	C = 0x43

Additional Inherited Members
Static Public Member Functions inherited from OpenElectrons_i2c.OpenElectrons_i2c
def	pi_rev
def	which_bus
Public Attributes inherited from OpenElectrons_i2c.OpenElectrons_i2c
	address
	bus

Detailed Description

SmartDrive: this class provides motor control functions.

Constructor & Destructor Documentation

def SmartDrive.SmartDrive.__init__	(		self,
			SmartDrive_address = SmartDrive_ADDRESS
	)

Initialize the class with the i2c address of your SmartDrive.

Parameters

self	The object pointer.
SmartDrive_address	Address of your SmartDrive.

Member Function Documentation

def SmartDrive.SmartDrive.command	(		self,
			cmd
	)

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

Parameters

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

def SmartDrive.SmartDrive.GetBattVoltage

(

self

)

Reads the battery voltage.

Multiplier constant not yet verified

Parameters

self	The object pointer.

def SmartDrive.SmartDrive.ReadPerformanceParameters

(

self

)

Reads the values of the PID control registers.

Parameters

self	The object pointer.

def SmartDrive.SmartDrive.ReadTachometerPosition	(		self,
			motor_number
	)

Function not supported.

May support function in the future. def GetMotorCurrent(self, motor_number): try: Reads the tacheometer position of the specified motor

Parameters

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

def SmartDrive.SmartDrive.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 tacheometer position of the motor.
Ki_tacho	Integral-gain of the tacheometer position of the motor.
Kd_tacho	Derivative-gain of the tacheometer 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.

def SmartDrive.SmartDrive.SmartDrive_IsTachoDone	(		self,
			motor_number
	)

Checks to ensure the specified tacheomter count for the motor(s) to run is reached.

Parameters

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

def SmartDrive.SmartDrive.SmartDrive_IsTimeDone	(		self,
			motor_number
	)

Checks to ensure the specified time for the motor(s) to run is completed.

Parameters

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

def SmartDrive.SmartDrive.SmartDrive_Run_Degrees	(		self,
			motor_number,
			direction,
			speed,
			degrees,
			wait_for_completion,
			next_action
	)

Turns the specified motor(s) for given relative tacheometer count.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to turn.
direction	The direction you wish to turn the motor(s).
speed	The speed at which you wish to turn the motor(s).
degrees	The relative tacheometer count you wish to turn the motor(s).
wait_for_completion	Tells the program when to handle the next line of code.
next_action	How you wish to stop the motor(s).

def SmartDrive.SmartDrive.SmartDrive_Run_Rotations	(		self,
			motor_number,
			direction,
			speed,
			rotations,
			wait_for_completion,
			next_action
	)

Turns the specified motor(s) for given relative tacheometer count.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to turn.
direction	The direction you wish to turn the motor(s).
speed	The speed at which you wish to turn the motor(s).
rotations	The relative amount of rotations you wish to turn the motor(s).
wait_for_completion	Tells the program when to handle the next line of code.
next_action	How you wish to stop the motor(s).

def SmartDrive.SmartDrive.SmartDrive_Run_Seconds	(		self,
			motor_number,
			direction,
			speed,
			duration,
			wait_for_completion,
			next_action
	)

Turns the specified motor(s) for a given amount of seconds.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to turn.
direction	The direction you wish to turn the motor(s).
speed	The speed at which you wish to turn the motor(s).
duration	The time in seconds you wish to turn the motor(s).
wait_for_completion	Tells the program when to handle the next line of code.
next_action	How you wish to stop the motor(s).

def SmartDrive.SmartDrive.SmartDrive_Run_Tacho	(		self,
			motor_number,
			speed,
			tacho_count,
			wait_for_completion,
			next_action
	)

Turns the specified motor(s) for given absolute tacheometer count.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to turn.
direction	The direction you wish to turn the motor(s).
speed	The speed at which you wish to turn the motor(s).
tacho_count	The absolute tacheometer count you wish to turn the motor(s).
wait_for_completion	Tells the program when to handle the next line of code.
next_action	How you wish to stop the motor(s).

def SmartDrive.SmartDrive.SmartDrive_Run_Unlimited	(		self,
			motor_number,
			direction,
			speed
	)

Turns the specified motor(s) forever.

Parameters

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

def SmartDrive.SmartDrive.SmartDrive_Stop	(		self,
			motor_number,
			next_action
	)

Stops the specified motor(s)

Parameters

self	The object pointer.
motor_number	Number of the motor(s) you wish to turn.
next_action	How you wish to stop the motor(s).

def SmartDrive.SmartDrive.SmartDrive_WaitUntilTachoDone	(		self,
			motor_number
	)

Waits until the specified tacheomter count for the motor(s) to run is reached.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) to wait for.

def SmartDrive.SmartDrive.SmartDrive_WaitUntilTimeDone	(		self,
			motor_number
	)

Waits until the specified time for the motor(s) to run is completed.

Parameters

self	The object pointer.
motor_number	Number of the motor(s) to wait for.

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

• SmartDrive.py