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--- en:software:homelab:library:module:motor [2010/02/08 14:42] – Page name changed from en:software:homelab:library:module:motors to en:software:homelab:library:module:motor mikk.leini
+++ en:software:homelab:library:module:motor [2020/07/20 12:00] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
-====== Mootorid ======
+====== Motors ======
-//Seotud mooduliga: [HW] [[en:hardware:homelab:motor]]//
+//Related to: [HW] [[en:hardware:homelab:motor]]//
-Mootorite teek võimaldab juhtida kodulabori mootorite moodulit ja mootoreid, mis sinna ühenduvad. Olemas on alalisvoolu-, samm- ja servomootorite juhtimise funktsioonid.
+This library contains functions to control different HomeLab motors. There are functions for DC, stepper and servo motors.
-===== Funktsioonid =====
+===== Data Types =====
+  * **//prescale//** \\  PWM clock prescaler enumration data type. It determines the division factor of system clock. It is recommended to use the first two division factors. Options:
+    * //TIMER2_NO_PRESCALE// - Division factor not used.
+    * //TIMER2_PRESCALE_8// - Division factor 8.
+    * //TIMER2_PRESCALE_64// - Division factor 64.
+    * //TIMER2_PRESCALE_256// - Division factor 256.
+    * //TIMER2_PRESCALE_1024// - Division factor 1024.
+===== Functions =====
   * **//void dcmotor_init(unsigned char index)//** \\
-    Ühe alalisvoolu mootorikontrolleri juhtviikude seadistamine väljundiks. Parameetrid:
+    Initializes one of the DC motor controllers. Parameters:
-    * //index// - Mootorikontrolleri number. Väärtus 0 kuni 3.
+    * //index// - Index of motor controller. 0 to 3.
   * **//void dcmotor_drive(unsigned char index, signed char direction)//** \\
-    Alalisvoolu mootorikontrolleri juhtkäsk. Parameetrid:
+    Drives one of the DC motor controllers. Parameters:
-    * //index// - Mootorikontrolleri number. Väärtus 0 kuni 3.
+    * //index// - Index of motor controller. 0 to 3.
-    * //direction// - Mootori polaarsus. Väärtus -1, 0 või +1. 0 puhul mootor seisab, muul juhul pöörleb vastavas suunas.
+    * //direction// - Motor polarity. -1, 0 or +1. In case of 0 motor is stopped, otherwise it turns in given direction.
+  * **//void dcmotor_drive_pwm_init(unsigned char index, timer2_prescale prescaler)//** \\     Initializes one of the DC motor controllers for speed control. In addition, you can set the appropriate prescaler, depending on the frequency of the PWM's you need. Parameters:
+    * //index// - Index of motor controller. 0 to 3.
+    * //prescaler// - Clock prescaler selection. Interruptions can occur very quickly upset the program of work. For example, when the UH sensor is used, it is necessary to set the prescaler TIMER2_PRESCALE_8.
+  * **//void dcmotor_drive_pwm(unsigned char index, signed char direction, unsigned char speed) //** \\
+Drives one of the DC motor controllers. Motor rotates in a predetermined direction and speed. Parameters:
+    * //index// - Index of motor controller. 0 to 3.
+    * //direction// -  Motor polarity. -1 or +1.
+    * //speed// - Motor speed.  0 to 255. 0 the engine is stopped and the 255 is the maximum possible speed.
+  * **//void unipolar_init(unsigned char index)//** \\
+    Initializes one of the unipolar stepper motor controllers. Parameters:
+    * //index// - Index of motor controller. 0 or 1.
+  * **//void unipolar_halfstep(unsigned char index, signed char direction, unsigned short num_steps, unsigned char speed)//** \\
+    Unipolar stepper motor half-stepping command. Functions is blocking as it is fulfilled as long as steps are done. Parameters:
+    * //index// - Index of motor controller. 0 or 1.
+    * //direction// - Directions of rotation. -1 or +1.
+    * //num_steps// - Count of half-steps.
+    * //speed// - Time of a single step in milliseconds.
   * **//void bipolar_init(void)//** \\
-    Bipolaarse mootorikontrolleri juhtviikude seadistamine väljundiks.
+    Initializes bipolar stepper motor controller.
   * **//void bipolar_halfstep(signed char direction, unsigned short num_steps, unsigned char speed)//** \\
-    Bipolaarse samm-mootori mootorikontrolleri pool-sammumise juhtkäsk. Funktsioon on blokeeruv ehk seda täidetakse seni, kuni soovitud arv samme on tehtud. Parameetrid:
+    Bipolar stepper motor half-stepping command. Functions is blocking as it is fulfilled as long as steps are done. Parameters:
-    * //direction// - Pöörlemissuund. Väärtus -1 või +1.
+    * //direction// - Directions of rotation. -1 or +1.
-    * //num_steps// - Pool-sammude arv.
+    * //num_steps// - Count of half-steps.
-    * //speed// - Ühe sammu tegemise aeg millisekundites.
+    * //speed// - Time of a single step in milliseconds.
   * **//void servomotor_init(unsigned char index)//** \\
-    Ühe servomootori juhtviikude väljundiks seadistamine ja taimer 1 seadistamine PWM režiimi. Parameetrid:
+    Initializes one of a servo motor PWM signal generations units in ATmega128 timer 1. PWM signal is 50 hz with high period of 1.5 ms ± 0.5 ms. Parameters:
-    * //index// - Servomootori number. Väärtus 0 või 1.
+    * //index// - Index of servo motor. 0 or 1.
   * **//void servomotor_position(unsigned char index, signed short position)//** \\
-    Servo-mootori juhtkäsk. Kui juhitakse positsioneerivat servomootorit, siis muutub rootori asend, kui lõputult pöörlevat, siis muutub pöörlemise kiirus. Parameetrid:
+    Servo motor pulse width control command. If positioning servo motor is driven, its position is altered, if rotating one, its rotation speed is altered. Parameters:
-    * //index// - Servomootori number. Väärtus 0 või 1.
+    * //index// - Index of servo motor. 0 or 1.
-    * //position// - Rootori asend või pöörlemiskiirus (olenevalt mootorist). Väärtus -100 kuni +100. 0 on keskasend või peatumine.
+    * //position// - Position or rotation speed. -100 to +100. 0 corresponds to stop.
-===== Näide =====
+===== Example =====
-Järgnev näide demonstreerib kõiki teegi funktsioone. Järjest seadistatakse mootorikontrollerid ja liigutatakse mootoreid.
+The following program demonstrates the usage of DC, stepper and servo motors.
 <code c>
@@ Line 43: / Line 73: @@
 int main(void)
 {
-	// Alalisvoolu mootorikontrollerite 0 ja 1 seadistamine
+	// DC motors initialization.
 	dcmotor_init(0);
 	dcmotor_init(1);
-	// Bipolaarse samm-mootori kontrolleri seadistamine
+	// Bipolar stepper initialization.
 	bipolar_init();
-	// Servomootorite 0 ja 1 juhtsignaalide seadistamine
+	// Servo motors initialization.
 	servomotor_init(0);
 	servomotor_init(1);
-	// Üks alalisvoolu mootor pöörlema ühtpidi, teine teistpidi
+	// One DC motors drives forward, another in backward direction.
 	dcmotor_drive(0, -1);
 	dcmotor_drive(1, +1);
-	// Samm-mootori pööramine 100 kraadi ühele poole ja seejärel
+	// Rotating the stepper motor 100 steps in one direction
-	// 2 korda kiiremini teisele poole
+	// and then back with twice the speed.
 	bipolar_halfstep(1, 100, 50);
 	bipolar_halfstep(-1, 100, 25);
-	// Servomootorite vastassuunda keeramine
+	// Rotating servo motors in opposite directions.
 	servomotor_position(0, -100);
 	servomotor_position(1, +100);
@@ Line 69: / Line 99: @@
 </code>
+This example demonstrates the speed adjustments of a DC motor.
+<code c>
+#include <homelab/module/motors.h>
+int main(void)
+{
+        unsigned char speed = 0;
+	// DC motors initialization
+  	dcmotor_drive_pwm_init(0, TIMER2_NO_PRESCALE);
+  	while(1)
+  	{
+		speed = 100;
+		// DC motors drives predefined speed and direction.
+		dcmotor_drive_pwm(0, 1, speed);
+  	}
+}
+</code>

en/software/homelab/library/module/motor.1265632937.txt.gz · Last modified: 2020/07/20 12:00 (external edit)