eeros_architecture:hal:feature_functions
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eeros_architecture:hal:feature_functions [2017/06/22 11:55] – [Accessing Feature Functions from the Control System] graf | eeros_architecture:hal:feature_functions [2021/05/16 09:30] – [List of Feature Function for Hardware Wrapper Libraries] ursgraf | ||
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The following example shows how to set the frequency of a pulse width modulated output. This | The following example shows how to set the frequency of a pulse width modulated output. This | ||
- | is usually done just once. After this you can release the object. Later the control system defines a peripheral output objects which is connected to our HAL object. The control system will then periodically write to this output and set the duty cycle. | + | is usually done just once. After this you can release the object. |
<code cpp> | <code cpp> | ||
HAL& hal = HAL:: | HAL& hal = HAL:: | ||
Line 18: | Line 18: | ||
hal.callOutputFeature(pwm, | hal.callOutputFeature(pwm, | ||
hal.releaseOutput(" | hal.releaseOutput(" | ||
- | ... | ||
- | PeripheralOutput< | ||
- | motorSpeed.callOutputFeature(" | ||
- | ... | ||
</ | </ | ||
===== Accessing Feature Functions from the Control System ===== | ===== Accessing Feature Functions from the Control System ===== | ||
+ | The control system defines a peripheral output objects which is connected to our HAL object. The control system will usually periodically write to this output and set the duty cycle. | ||
+ | However, if you wish to change the frequency of the signal you must again use the feature function as follows: | ||
<code cpp> | <code cpp> | ||
- | HAL& hal = HAL:: | ||
- | eeros:: | ||
- | hal.callOutputFeature(pwm, | ||
- | hal.releaseOutput(" | ||
- | ... | ||
PeripheralOutput< | PeripheralOutput< | ||
motorSpeed.callOutputFeature(" | motorSpeed.callOutputFeature(" | ||
- | ... | ||
</ | </ | ||
+ | |||
+ | ===== List of Feature Function for Hardware Wrapper Libraries ===== | ||
+ | ^library^type^function^Parameter^Description^ | ||
+ | |bbblue-eeros|AnalogOut|freeSpin|channel|Puts a motor into a zero-throttle state allowing it to spin freely. Motor channel (1-4) or 0 for all channels. Make sure, that the peripheral output driving the motor does not run, else the set function will reenable the H-bridge.| | ||
+ | |::: | ||
+ | |::: | ||
+ | |::: | ||
+ | |flink-eeros|Fqd|resetFqd| |Sets the encoder position to zero. This can be useful for homing.| | ||
+ | |::: | ||
+ | |::: | ||
+ | |||
+ | |||
+ | |||
eeros_architecture/hal/feature_functions.txt · Last modified: 2021/05/16 09:33 by ursgraf