phidgets 0.1.3 → 1.0.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- checksums.yaml +4 -4
- data/History.txt +3 -0
- data/README.rdoc +32 -43
- data/Rakefile +4 -2
- data/bin/phidget +18 -72
- data/ext/phidgets/extconf.rb +5 -8
- data/ext/phidgets/phidgets.c +708 -173
- data/ext/phidgets/phidgets.h +54 -35
- data/ext/phidgets/phidgets_accelerometer.c +193 -109
- data/ext/phidgets/phidgets_bldc_motor.c +529 -0
- data/ext/phidgets/phidgets_capacitive_touch.c +302 -0
- data/ext/phidgets/phidgets_common.c +570 -315
- data/ext/phidgets/phidgets_current_input.c +229 -0
- data/ext/phidgets/phidgets_dc_motor.c +562 -0
- data/ext/phidgets/phidgets_dictionary.c +154 -213
- data/ext/phidgets/phidgets_digital_input.c +127 -0
- data/ext/phidgets/phidgets_digital_output.c +288 -0
- data/ext/phidgets/phidgets_distance_sensor.c +295 -0
- data/ext/phidgets/phidgets_encoder.c +211 -192
- data/ext/phidgets/phidgets_frequency_counter.c +310 -177
- data/ext/phidgets/phidgets_gps.c +226 -164
- data/ext/phidgets/phidgets_gyroscope.c +195 -0
- data/ext/phidgets/phidgets_hub.c +39 -0
- data/ext/phidgets/phidgets_humidity_sensor.c +200 -0
- data/ext/phidgets/phidgets_ir.c +211 -171
- data/ext/phidgets/phidgets_lcd.c +512 -0
- data/ext/phidgets/phidgets_light_sensor.c +200 -0
- data/ext/phidgets/phidgets_log.c +263 -0
- data/ext/phidgets/phidgets_magnetometer.c +279 -0
- data/ext/phidgets/phidgets_manager.c +86 -297
- data/ext/phidgets/phidgets_motor_position_controller.c +787 -0
- data/ext/phidgets/phidgets_phsensor.c +200 -152
- data/ext/phidgets/phidgets_power_guard.c +144 -0
- data/ext/phidgets/phidgets_pressure_sensor.c +200 -0
- data/ext/phidgets/phidgets_rc_servo.c +672 -0
- data/ext/phidgets/phidgets_resistance_input.c +227 -0
- data/ext/phidgets/phidgets_rfid.c +107 -221
- data/ext/phidgets/phidgets_sound_sensor.c +284 -0
- data/ext/phidgets/phidgets_spatial.c +124 -318
- data/ext/phidgets/phidgets_stepper.c +457 -430
- data/ext/phidgets/phidgets_temp_sensor.c +223 -228
- data/ext/phidgets/phidgets_voltage_input.c +428 -0
- data/ext/phidgets/phidgets_voltage_output.c +167 -0
- data/ext/phidgets/phidgets_voltage_ratio_input.c +435 -0
- data/lib/phidgets.rb +21 -14
- data/lib/phidgets/accelerometer.rb +11 -15
- data/lib/phidgets/bldc_motor.rb +45 -0
- data/lib/phidgets/capacitive_touch.rb +33 -0
- data/lib/phidgets/common.rb +40 -69
- data/lib/phidgets/current_input.rb +21 -0
- data/lib/phidgets/dc_motor.rb +45 -0
- data/lib/phidgets/dictionary.rb +30 -39
- data/lib/phidgets/digital_input.rb +21 -0
- data/lib/phidgets/digital_output.rb +56 -0
- data/lib/phidgets/distance_sensor.rb +33 -0
- data/lib/phidgets/encoder.rb +1 -29
- data/lib/phidgets/frequency_counter.rb +23 -14
- data/lib/phidgets/gps.rb +34 -26
- data/lib/phidgets/gyroscope.rb +21 -0
- data/lib/phidgets/humidity_sensor.rb +21 -0
- data/lib/phidgets/ir.rb +34 -39
- data/lib/phidgets/light_sensor.rb +21 -0
- data/lib/phidgets/magnetometer.rb +21 -0
- data/lib/phidgets/manager.rb +18 -66
- data/lib/phidgets/motor_position_controller.rb +45 -0
- data/lib/phidgets/ph_sensor.rb +2 -6
- data/lib/phidgets/pressure_sensor.rb +21 -0
- data/lib/phidgets/rc_servo.rb +58 -0
- data/lib/phidgets/resistance_input.rb +21 -0
- data/lib/phidgets/rfid.rb +22 -38
- data/lib/phidgets/sound_sensor.rb +21 -0
- data/lib/phidgets/spatial.rb +11 -15
- data/lib/phidgets/stepper.rb +48 -50
- data/lib/phidgets/temperature_sensor.rb +11 -15
- data/lib/phidgets/version.rb +5 -0
- data/lib/phidgets/voltage_input.rb +34 -0
- data/lib/phidgets/voltage_output.rb +23 -0
- data/lib/phidgets/voltage_ratio_input.rb +34 -0
- data/phidgets.gemspec +3 -22
- data/test/test_accelerometer.rb +42 -23
- data/test/test_bldc_motor.rb +134 -0
- data/test/test_capacitive_touch.rb +82 -0
- data/test/test_common.rb +125 -108
- data/test/test_current_input.rb +62 -0
- data/test/test_dc_motor.rb +146 -0
- data/test/test_dictionary.rb +22 -54
- data/test/test_digital_input.rb +30 -0
- data/test/test_digital_output.rb +70 -0
- data/test/test_distance_sensor.rb +76 -0
- data/test/test_encoder.rb +45 -38
- data/test/test_frequency_counter.rb +71 -36
- data/test/test_gps.rb +29 -38
- data/test/test_gyroscope.rb +54 -0
- data/test/test_helper.rb +0 -1
- data/test/test_hub.rb +14 -0
- data/test/test_humidity_sensor.rb +58 -0
- data/test/test_ir.rb +34 -34
- data/test/test_lcd.rb +146 -0
- data/test/test_light_sensor.rb +58 -0
- data/test/test_magnetometer.rb +78 -0
- data/test/test_manager.rb +10 -79
- data/test/test_motor_control.rb +146 -108
- data/test/test_phidgets.rb +2 -14
- data/test/test_phsensor.rb +46 -34
- data/test/test_power_guard.rb +42 -0
- data/test/test_pressure_sensor.rb +58 -0
- data/test/test_rc_servo.rb +174 -0
- data/test/test_resistance_input.rb +66 -0
- data/test/test_rfid.rb +15 -54
- data/test/test_sound_sensor.rb +78 -0
- data/test/test_spatial.rb +19 -85
- data/test/test_stepper.rb +89 -98
- data/test/test_temp_sensor.rb +42 -47
- data/test/test_voltage_input.rb +102 -0
- data/test/test_voltage_output.rb +46 -0
- data/test/test_voltage_ratio_input.rb +102 -0
- metadata +72 -89
- data/ext/phidgets/phidgets_advanced_servo.c +0 -567
- data/ext/phidgets/phidgets_analog.c +0 -139
- data/ext/phidgets/phidgets_bridge.c +0 -263
- data/ext/phidgets/phidgets_interface_kit.c +0 -340
- data/ext/phidgets/phidgets_led.c +0 -178
- data/ext/phidgets/phidgets_motor_control.c +0 -642
- data/ext/phidgets/phidgets_servo.c +0 -276
- data/ext/phidgets/phidgets_text_lcd.c +0 -381
- data/ext/phidgets/phidgets_text_led.c +0 -107
- data/ext/phidgets/phidgets_weight_sensor.c +0 -113
- data/lib/phidgets/advanced_servo.rb +0 -49
- data/lib/phidgets/analog.rb +0 -8
- data/lib/phidgets/bridge.rb +0 -25
- data/lib/phidgets/interfacekit.rb +0 -49
- data/lib/phidgets/led.rb +0 -8
- data/lib/phidgets/motor_control.rb +0 -110
- data/lib/phidgets/servo.rb +0 -23
- data/lib/phidgets/text_lcd.rb +0 -8
- data/lib/phidgets/text_led.rb +0 -8
- data/lib/phidgets/weight_sensor.rb +0 -25
- data/test/test_advanced_servo.rb +0 -152
- data/test/test_analog.rb +0 -45
- data/test/test_bridge.rb +0 -77
- data/test/test_interfacekit.rb +0 -97
- data/test/test_led.rb +0 -55
- data/test/test_servo.rb +0 -67
- data/test/test_text_lcd.rb +0 -115
- data/test/test_text_led.rb +0 -35
- data/test/test_weight_sensor.rb +0 -32
@@ -0,0 +1,787 @@
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#include "phidgets.h"
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#define MOTOR_DUTY_CYCLE_UPDATE_CALLBACK 0
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#define MOTOR_POSITION_UPDATE_CALLBACK 1
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#define MOTOR_TARGET_POSITION_ASYNC_CALLBACK 2
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VALUE ph_motor_init(VALUE self) {
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ph_data_t *ph = get_ph_data(self);
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ph_raise(PhidgetMotorPositionController_create((PhidgetMotorPositionControllerHandle *)(&(ph->handle))));
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return self;
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}
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VALUE ph_motor_get_acceleration(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getAcceleration);
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}
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VALUE ph_motor_set_acceleration(VALUE self, VALUE accel) {
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ph_raise(PhidgetMotorPositionController_setAcceleration((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2DBL(accel)));
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return Qnil;
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}
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VALUE ph_motor_get_min_acceleration(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getMinAcceleration);
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}
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VALUE ph_motor_get_max_acceleration(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getMaxAcceleration);
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}
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VALUE ph_motor_get_current_limit(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getCurrentLimit);
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}
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VALUE ph_motor_set_current_limit(VALUE self, VALUE current) {
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ph_raise(PhidgetMotorPositionController_setCurrentLimit((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2DBL(current)));
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return Qnil;
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}
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VALUE ph_motor_get_min_current_limit(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getMinCurrentLimit);
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}
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VALUE ph_motor_get_max_current_limit(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getMaxCurrentLimit);
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}
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VALUE ph_motor_get_current_regulator_gain(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getCurrentRegulatorGain);
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}
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VALUE ph_motor_set_current_regulator_gain(VALUE self, VALUE gain) {
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ph_raise(PhidgetMotorPositionController_setCurrentRegulatorGain((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2DBL(gain)));
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return Qnil;
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}
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VALUE ph_motor_get_min_current_regulator_gain(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getMinCurrentRegulatorGain);
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}
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VALUE ph_motor_get_max_current_regulator_gain(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getMaxCurrentRegulatorGain);
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}
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VALUE ph_motor_get_data_interval(VALUE self) {
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return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetMotorPositionController_getDataInterval);
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}
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VALUE ph_motor_set_data_interval(VALUE self, VALUE interval) {
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ph_raise(PhidgetMotorPositionController_setDataInterval((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2UINT(interval)));
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return Qnil;
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}
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VALUE ph_motor_get_min_data_interval(VALUE self) {
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return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetMotorPositionController_getMinDataInterval);
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}
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VALUE ph_motor_get_max_data_interval(VALUE self) {
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return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetMotorPositionController_getMaxDataInterval);
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}
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VALUE ph_motor_get_dead_band(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getDeadBand);
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}
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VALUE ph_motor_set_dead_band(VALUE self, VALUE dead_band) {
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ph_raise(PhidgetMotorPositionController_setDeadBand((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2DBL(dead_band)));
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return Qnil;
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}
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VALUE ph_motor_get_duty_cycle(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getDutyCycle);
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}
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VALUE ph_motor_get_engaged(VALUE self) {
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return ph_get_bool(get_ph_handle(self), (phidget_get_bool_func)PhidgetMotorPositionController_getEngaged);
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}
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VALUE ph_motor_set_engaged(VALUE self, VALUE engaged) {
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ph_raise(PhidgetMotorPositionController_setEngaged((PhidgetMotorPositionControllerHandle)get_ph_handle(self), TYPE(engaged) == T_TRUE ? PTRUE : PFALSE));
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return Qnil;
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}
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VALUE ph_motor_get_fan_mode(VALUE self) {
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return ph_get_int(get_ph_handle(self), (phidget_get_int_func)PhidgetMotorPositionController_getFanMode);
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}
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VALUE ph_motor_set_fan_mode(VALUE self, VALUE fan_mode) {
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ph_raise(PhidgetMotorPositionController_setFanMode((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2INT(fan_mode)));
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return Qnil;
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}
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VALUE ph_motor_get_io_mode(VALUE self) {
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return ph_get_int(get_ph_handle(self), (phidget_get_int_func)PhidgetMotorPositionController_getIOMode);
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}
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VALUE ph_motor_set_io_mode(VALUE self, VALUE io_mode) {
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ph_raise(PhidgetMotorPositionController_setIOMode((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2INT(io_mode)));
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return Qnil;
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}
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VALUE ph_motor_get_kd(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getKd);
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}
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VALUE ph_motor_set_kd(VALUE self, VALUE kd) {
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ph_raise(PhidgetMotorPositionController_setKd((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2DBL(kd)));
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return Qnil;
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}
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VALUE ph_motor_get_ki(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getKi);
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}
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VALUE ph_motor_set_ki(VALUE self, VALUE ki) {
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ph_raise(PhidgetMotorPositionController_setKi((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2DBL(ki)));
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return Qnil;
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}
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VALUE ph_motor_get_kp(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getKp);
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}
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VALUE ph_motor_set_kp(VALUE self, VALUE kp) {
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ph_raise(PhidgetMotorPositionController_setKp((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2DBL(kp)));
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return Qnil;
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}
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VALUE ph_motor_get_position(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getPosition);
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}
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VALUE ph_motor_get_min_position(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getMinPosition);
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}
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VALUE ph_motor_get_max_position(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getMaxPosition);
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}
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VALUE ph_motor_add_position_offset(VALUE self, VALUE offset) {
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ph_raise(PhidgetMotorPositionController_addPositionOffset((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2DBL(offset)));
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return Qnil;
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}
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VALUE ph_motor_get_rescale_factor(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getRescaleFactor);
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}
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VALUE ph_motor_set_rescale_factor(VALUE self, VALUE rescale_factor) {
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ph_raise(PhidgetMotorPositionController_setRescaleFactor((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2DBL(rescale_factor)));
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return Qnil;
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}
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VALUE ph_motor_get_stall_velocity(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getStallVelocity);
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}
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VALUE ph_motor_set_stall_velocity(VALUE self, VALUE stall_velocity) {
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ph_raise(PhidgetMotorPositionController_setStallVelocity((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2DBL(stall_velocity)));
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return Qnil;
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}
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VALUE ph_motor_get_min_stall_velocity(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getMinStallVelocity);
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}
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VALUE ph_motor_get_max_stall_velocity(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getMaxStallVelocity);
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}
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VALUE ph_motor_get_target_position(VALUE self) {
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return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getTargetPosition);
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}
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|
+
VALUE ph_motor_set_target_position(VALUE self, VALUE target_position) {
|
199
|
+
ph_raise(PhidgetMotorPositionController_setTargetPosition((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2DBL(target_position)));
|
200
|
+
return Qnil;
|
201
|
+
}
|
202
|
+
|
203
|
+
VALUE ph_motor_get_velocity_limit(VALUE self) {
|
204
|
+
return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getVelocityLimit);
|
205
|
+
}
|
206
|
+
|
207
|
+
VALUE ph_motor_set_velocity_limit(VALUE self, VALUE velocity) {
|
208
|
+
ph_raise(PhidgetMotorPositionController_setVelocityLimit((PhidgetMotorPositionControllerHandle)get_ph_handle(self), NUM2DBL(velocity)));
|
209
|
+
return Qnil;
|
210
|
+
}
|
211
|
+
|
212
|
+
VALUE ph_motor_get_min_velocity_limit(VALUE self) {
|
213
|
+
return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getMinVelocityLimit);
|
214
|
+
}
|
215
|
+
|
216
|
+
VALUE ph_motor_get_max_velocity_limit(VALUE self) {
|
217
|
+
return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetMotorPositionController_getMaxVelocityLimit);
|
218
|
+
}
|
219
|
+
|
220
|
+
|
221
|
+
void CCONV ph_motor_on_duty_cycle_update(PhidgetMotorPositionControllerHandle phid, void *userPtr, double duty_cycle) {
|
222
|
+
ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
|
223
|
+
while(sem_wait(&callback_data->handler_ready)!=0) {};
|
224
|
+
callback_data->arg1 = DBL2NUM(duty_cycle);
|
225
|
+
callback_data->arg2 = Qnil;
|
226
|
+
callback_data->arg3 = Qnil;
|
227
|
+
callback_data->arg4 = Qnil;
|
228
|
+
sem_post(&callback_data->callback_called);
|
229
|
+
}
|
230
|
+
|
231
|
+
|
232
|
+
VALUE ph_motor_set_on_duty_cycle_update_handler(VALUE self, VALUE handler) {
|
233
|
+
ph_data_t *ph = get_ph_data(self);
|
234
|
+
ph_callback_data_t *callback_data = &ph->dev_callbacks[MOTOR_DUTY_CYCLE_UPDATE_CALLBACK];
|
235
|
+
if( TYPE(handler) == T_NIL ) {
|
236
|
+
callback_data->callback = T_NIL;
|
237
|
+
callback_data->exit = true;
|
238
|
+
ph_raise(PhidgetMotorPositionController_setOnDutyCycleUpdateHandler((PhidgetMotorPositionControllerHandle)ph->handle, NULL, (void *)NULL));
|
239
|
+
sem_post(&callback_data->callback_called);
|
240
|
+
} else {
|
241
|
+
callback_data->exit = false;
|
242
|
+
callback_data->phidget = self;
|
243
|
+
callback_data->callback = handler;
|
244
|
+
ph_raise(PhidgetMotorPositionController_setOnDutyCycleUpdateHandler((PhidgetMotorPositionControllerHandle)ph->handle, ph_motor_on_duty_cycle_update, (void *)callback_data));
|
245
|
+
ph_callback_thread(callback_data);
|
246
|
+
}
|
247
|
+
return Qnil;
|
248
|
+
}
|
249
|
+
|
250
|
+
|
251
|
+
void CCONV ph_motor_on_position_change(PhidgetMotorPositionControllerHandle phid, void *userPtr, double position) {
|
252
|
+
ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
|
253
|
+
while(sem_wait(&callback_data->handler_ready)!=0) {};
|
254
|
+
callback_data->arg1 = DBL2NUM(position);
|
255
|
+
callback_data->arg2 = Qnil;
|
256
|
+
callback_data->arg3 = Qnil;
|
257
|
+
callback_data->arg4 = Qnil;
|
258
|
+
sem_post(&callback_data->callback_called);
|
259
|
+
}
|
260
|
+
|
261
|
+
|
262
|
+
VALUE ph_motor_set_on_position_change_handler(VALUE self, VALUE handler) {
|
263
|
+
ph_data_t *ph = get_ph_data(self);
|
264
|
+
ph_callback_data_t *callback_data = &ph->dev_callbacks[MOTOR_POSITION_UPDATE_CALLBACK];
|
265
|
+
if( TYPE(handler) == T_NIL ) {
|
266
|
+
callback_data->callback = T_NIL;
|
267
|
+
callback_data->exit = true;
|
268
|
+
ph_raise(PhidgetMotorPositionController_setOnPositionChangeHandler((PhidgetMotorPositionControllerHandle)ph->handle, NULL, (void *)NULL));
|
269
|
+
sem_post(&callback_data->callback_called);
|
270
|
+
} else {
|
271
|
+
callback_data->exit = false;
|
272
|
+
callback_data->phidget = self;
|
273
|
+
callback_data->callback = handler;
|
274
|
+
ph_raise(PhidgetMotorPositionController_setOnPositionChangeHandler((PhidgetMotorPositionControllerHandle)ph->handle, ph_motor_on_position_change, (void *)callback_data));
|
275
|
+
ph_callback_thread(callback_data);
|
276
|
+
}
|
277
|
+
return Qnil;
|
278
|
+
}
|
279
|
+
|
280
|
+
|
281
|
+
void CCONV ph_motor_target_position_async(PhidgetHandle phid, void *userPtr, PhidgetReturnCode res) {
|
282
|
+
ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
|
283
|
+
callback_data->exit = true;
|
284
|
+
callback_data->arg1 = INT2NUM(res);
|
285
|
+
callback_data->arg2 = Qnil;
|
286
|
+
callback_data->arg3 = Qnil;
|
287
|
+
callback_data->arg4 = Qnil;
|
288
|
+
sem_post(&callback_data->callback_called);
|
289
|
+
}
|
290
|
+
|
291
|
+
|
292
|
+
VALUE ph_motor_set_target_position_async(VALUE self, VALUE position, VALUE handler) {
|
293
|
+
ph_data_t *ph = get_ph_data(self);
|
294
|
+
ph_callback_data_t *callback_data = &ph->dev_callbacks[MOTOR_TARGET_POSITION_ASYNC_CALLBACK];
|
295
|
+
if( TYPE(handler) == T_NIL ) {
|
296
|
+
PhidgetMotorPositionController_setTargetPosition_async((PhidgetMotorPositionControllerHandle)ph->handle, NUM2DBL(position), NULL, (void *)NULL);
|
297
|
+
} else {
|
298
|
+
callback_data->exit = false;
|
299
|
+
callback_data->phidget = self;
|
300
|
+
callback_data->callback = handler;
|
301
|
+
PhidgetMotorPositionController_setTargetPosition_async((PhidgetMotorPositionControllerHandle)ph->handle, NUM2DBL(position), ph_motor_target_position_async, (void *)callback_data);
|
302
|
+
ph_callback_thread(callback_data);
|
303
|
+
}
|
304
|
+
return Qnil;
|
305
|
+
}
|
306
|
+
|
307
|
+
|
308
|
+
void Init_motor_position_controller() {
|
309
|
+
VALUE ph_module = rb_const_get(rb_cObject, rb_intern("Phidgets"));
|
310
|
+
VALUE ph_common = rb_const_get(ph_module, rb_intern("Common"));
|
311
|
+
VALUE ph_motor = rb_define_class_under(ph_module, "MotorPositionController", ph_common);
|
312
|
+
|
313
|
+
/* Document-method: new
|
314
|
+
* call-seq: new
|
315
|
+
*
|
316
|
+
* Creates a Phidget MotorPositionController object.
|
317
|
+
*/
|
318
|
+
rb_define_method(ph_motor, "initialize", ph_motor_init, 0);
|
319
|
+
|
320
|
+
/* Document-method: getAcceleration
|
321
|
+
* call-seq: getAcceleration -> acceleration
|
322
|
+
*
|
323
|
+
* The rate at which the controller can change the motor's velocity.
|
324
|
+
* Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor.
|
325
|
+
* The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
|
326
|
+
*/
|
327
|
+
rb_define_method(ph_motor, "getAcceleration", ph_motor_get_acceleration, 0);
|
328
|
+
rb_define_alias(ph_motor, "acceleration", "getAcceleration");
|
329
|
+
|
330
|
+
/* Document-method: setAcceleration
|
331
|
+
* call-seq: setAcceleration(acceleration)
|
332
|
+
*
|
333
|
+
* The rate at which the controller can change the motor's velocity.
|
334
|
+
* Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor.
|
335
|
+
* The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
|
336
|
+
*/
|
337
|
+
rb_define_method(ph_motor, "setAcceleration", ph_motor_set_acceleration, 1);
|
338
|
+
rb_define_alias(ph_motor, "acceleration=", "setAcceleration");
|
339
|
+
|
340
|
+
/* Document-method: getMinAcceleration
|
341
|
+
* call-seq: getMinAcceleration -> min_acceleration
|
342
|
+
*
|
343
|
+
* The minimum value that Acceleration can be set to.
|
344
|
+
* Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor.
|
345
|
+
* The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
|
346
|
+
*/
|
347
|
+
rb_define_method(ph_motor, "getMinAcceleration", ph_motor_get_min_acceleration, 0);
|
348
|
+
rb_define_alias(ph_motor, "min_acceleration", "getMinAcceleration");
|
349
|
+
|
350
|
+
/* Document-method: getMaxAcceleration
|
351
|
+
* call-seq: getMaxAcceleration -> max_acceleration
|
352
|
+
*
|
353
|
+
* The maximum value that Acceleration can be set to.
|
354
|
+
* Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor.
|
355
|
+
* The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
|
356
|
+
*/
|
357
|
+
rb_define_method(ph_motor, "getMaxAcceleration", ph_motor_get_max_acceleration, 0);
|
358
|
+
rb_define_alias(ph_motor, "max_acceleration", "getMaxAcceleration");
|
359
|
+
|
360
|
+
/* Document-method: getCurrentLimit
|
361
|
+
* call-seq: getCurrentLimit -> current_limit
|
362
|
+
*
|
363
|
+
* The controller will limit the current through the motor to this value.
|
364
|
+
*/
|
365
|
+
rb_define_method(ph_motor, "getCurrentLimit", ph_motor_get_current_limit, 0);
|
366
|
+
rb_define_alias(ph_motor, "current_limit", "getCurrentLimit");
|
367
|
+
|
368
|
+
/* Document-method: setCurrentLimit
|
369
|
+
* call-seq: setCurrentLimit(current_limit)
|
370
|
+
*
|
371
|
+
* The controller will limit the current through the motor to this value.
|
372
|
+
*/
|
373
|
+
rb_define_method(ph_motor, "setCurrentLimit", ph_motor_set_current_limit, 1);
|
374
|
+
rb_define_alias(ph_motor, "current_limit=", "setCurrentLimit");
|
375
|
+
|
376
|
+
/* Document-method: getMinCurrentLimit
|
377
|
+
* call-seq: getMinCurrentLimit -> current_limit
|
378
|
+
*
|
379
|
+
* The minimum current limit that can be set for the device.
|
380
|
+
*/
|
381
|
+
rb_define_method(ph_motor, "getMinCurrentLimit", ph_motor_get_min_current_limit, 0);
|
382
|
+
rb_define_alias(ph_motor, "min_current_limit", "getMinCurrentLimit");
|
383
|
+
|
384
|
+
/* Document-method: getMaxCurrentLimit
|
385
|
+
* call-seq: getMaxCurrentLimit -> current_limit
|
386
|
+
*
|
387
|
+
* The maximum current limit that can be set for the device.
|
388
|
+
*/
|
389
|
+
rb_define_method(ph_motor, "getMaxCurrentLimit", ph_motor_get_max_current_limit, 0);
|
390
|
+
rb_define_alias(ph_motor, "max_current_limit", "getMaxCurrentLimit");
|
391
|
+
|
392
|
+
/* Document-method: getCurrentRegulatorGain
|
393
|
+
* call-seq: getCurrentRegulatorGain -> regulator_gain
|
394
|
+
*
|
395
|
+
* Depending on power supply voltage and motor coil inductance, current through the motor can change relatively slowly or extremely rapidly.
|
396
|
+
* A physically larger DC Motor will typically have a lower inductance, requiring a higher current regulator gain.
|
397
|
+
* A higher power supply voltage will result in motor current changing more rapidly, requiring a higher current regulator gain.
|
398
|
+
* If the current regulator gain is too small, spikes in current will occur, causing large variations in torque, and possibly damaging the motor controller.
|
399
|
+
* If the current regulator gain is too high, the current will jitter, causing the motor to sound 'rough', especially when changing directions.
|
400
|
+
*/
|
401
|
+
rb_define_method(ph_motor, "getCurrentRegulatorGain", ph_motor_get_current_regulator_gain, 0);
|
402
|
+
rb_define_alias(ph_motor, "current_regulator_gain", "getCurrentRegulatorGain");
|
403
|
+
|
404
|
+
/* Document-method: setCurrentRegulatorGain
|
405
|
+
* call-seq: setCurrentRegulatorGain(regulator_gain)
|
406
|
+
*
|
407
|
+
* Depending on power supply voltage and motor coil inductance, current through the motor can change relatively slowly or extremely rapidly.
|
408
|
+
* A physically larger DC Motor will typically have a lower inductance, requiring a higher current regulator gain.
|
409
|
+
* A higher power supply voltage will result in motor current changing more rapidly, requiring a higher current regulator gain.
|
410
|
+
* If the current regulator gain is too small, spikes in current will occur, causing large variations in torque, and possibly damaging the motor controller.
|
411
|
+
* If the current regulator gain is too high, the current will jitter, causing the motor to sound 'rough', especially when changing directions.
|
412
|
+
*/
|
413
|
+
rb_define_method(ph_motor, "setCurrentRegulatorGain", ph_motor_set_current_regulator_gain, 1);
|
414
|
+
rb_define_alias(ph_motor, "current_regulator_gain=", "setCurrentRegulatorGain");
|
415
|
+
|
416
|
+
/* Document-method: getMinCurrentRegulatorGain
|
417
|
+
* call-seq: getMinCurrentRegulatorGain -> regulator_gain
|
418
|
+
*
|
419
|
+
* The minimum current regulator gain for the device.
|
420
|
+
*/
|
421
|
+
rb_define_method(ph_motor, "getMinCurrentRegulatorGain", ph_motor_get_min_current_regulator_gain, 0);
|
422
|
+
rb_define_alias(ph_motor, "min_current_regulator_gain", "getMinCurrentRegulatorGain");
|
423
|
+
|
424
|
+
/* Document-method: getMaxCurrentRegulatorGain
|
425
|
+
* call-seq: getMaxCurrentRegulatorGain -> regulator_gain
|
426
|
+
*
|
427
|
+
* The maximum current regulator gain for the device.
|
428
|
+
*/
|
429
|
+
rb_define_method(ph_motor, "getMaxCurrentRegulatorGain", ph_motor_get_max_current_regulator_gain, 0);
|
430
|
+
rb_define_alias(ph_motor, "max_current_regulator_gain", "getMaxCurrentRegulatorGain");
|
431
|
+
|
432
|
+
/* Document-method: getDataInterval
|
433
|
+
* call-seq: getDataInterval -> interval
|
434
|
+
*
|
435
|
+
* The DataInterval is the time that must elapse before the controller will fire another CurrentChange event.
|
436
|
+
* The data interval is bounded by MinDataInterval and MaxDataInterval.
|
437
|
+
* The timing between CurrentChange events can also affected by the CurrentChangeTrigger.
|
438
|
+
*/
|
439
|
+
rb_define_method(ph_motor, "getDataInterval", ph_motor_get_data_interval, 0);
|
440
|
+
rb_define_alias(ph_motor, "data_interval", "getDataInterval");
|
441
|
+
|
442
|
+
/* Document-method: setDataInterval
|
443
|
+
* call-seq: setDataInterval(interval)
|
444
|
+
*
|
445
|
+
* The DataInterval is the time that must elapse before the controller will fire another CurrentChange event.
|
446
|
+
* The data interval is bounded by MinDataInterval and MaxDataInterval.
|
447
|
+
* The timing between CurrentChange events can also affected by the CurrentChangeTrigger.
|
448
|
+
*/
|
449
|
+
rb_define_method(ph_motor, "setDataInterval", ph_motor_set_data_interval, 1);
|
450
|
+
rb_define_alias(ph_motor, "data_interval=", "setDataInterval");
|
451
|
+
|
452
|
+
/* Document-method: getMinDataInterval
|
453
|
+
* call-seq: getMinDataInterval -> interval
|
454
|
+
*
|
455
|
+
* The minimum value that DataInterval can be set to.
|
456
|
+
*/
|
457
|
+
rb_define_method(ph_motor, "getMinDataInterval", ph_motor_get_min_data_interval, 0);
|
458
|
+
rb_define_alias(ph_motor, "min_data_interval", "getMinDataInterval");
|
459
|
+
|
460
|
+
/* Document-method: getMaxDataInterval
|
461
|
+
* call-seq: getMaxDataInterval -> interval
|
462
|
+
*
|
463
|
+
* The maximum value that DataInterval can be set to.
|
464
|
+
*/
|
465
|
+
rb_define_method(ph_motor, "getMaxDataInterval", ph_motor_get_max_data_interval, 0);
|
466
|
+
rb_define_alias(ph_motor, "max_data_interval", "getMaxDataInterval");
|
467
|
+
|
468
|
+
/* Document-method: getDeadBand
|
469
|
+
* call-seq: getDeadBand -> dead_band
|
470
|
+
*
|
471
|
+
* Depending on your system, it may not be possible to bring the position error (TargetPosition - Position) to zero.
|
472
|
+
* A small error can lead to the motor continually 'hunting' for a target position, which can cause unwanted effects.
|
473
|
+
* By setting a non-zero DeadBand, the position controller will relax control of the motor within the deadband, preventing the 'hunting' behavior.
|
474
|
+
* Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor.
|
475
|
+
* The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
|
476
|
+
*/
|
477
|
+
rb_define_method(ph_motor, "getDeadBand", ph_motor_get_dead_band, 0);
|
478
|
+
rb_define_alias(ph_motor, "dead_band", "getDeadBand");
|
479
|
+
|
480
|
+
/* Document-method: setDeadBand
|
481
|
+
* call-seq: setDeadBand(dead_band)
|
482
|
+
*
|
483
|
+
* Depending on your system, it may not be possible to bring the position error (TargetPosition - Position) to zero.
|
484
|
+
* A small error can lead to the motor continually 'hunting' for a target position, which can cause unwanted effects.
|
485
|
+
* By setting a non-zero DeadBand, the position controller will relax control of the motor within the deadband, preventing the 'hunting' behavior.
|
486
|
+
* Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor.
|
487
|
+
* The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
|
488
|
+
*/
|
489
|
+
rb_define_method(ph_motor, "setDeadBand", ph_motor_set_dead_band, 1);
|
490
|
+
rb_define_alias(ph_motor, "dead_band=", "setDeadBand");
|
491
|
+
|
492
|
+
/* Document-method: getDutyCycle
|
493
|
+
* call-seq: getDutyCycle -> duty_cycle
|
494
|
+
*
|
495
|
+
* The most recent duty cycle value that the controller has reported.
|
496
|
+
* This value will be between -1 and 1 where a sign change (±) is indicitave of a direction change.
|
497
|
+
* Note that DutyCycle is merely an indication of the average voltage across the motor. At a constant load, an increase in DutyCycle indicates an increase in motor speed.
|
498
|
+
* The units of DutyCycle refer to 'duty cycle'. This is because the controller must rapidly switch the power on/off (i.e. change the duty cycle) in order to manipulate the voltage across the motor.
|
499
|
+
*/
|
500
|
+
rb_define_method(ph_motor, "getDutyCycle", ph_motor_get_duty_cycle, 0);
|
501
|
+
rb_define_alias(ph_motor, "duty_cycle", "getDutyCycle");
|
502
|
+
|
503
|
+
/* Document-method: getEngaged
|
504
|
+
* call-seq: getEngaged -> engaged
|
505
|
+
*
|
506
|
+
* When engaged, a motor has the ability to be positioned. When disengaged, no commands are sent to the motor.
|
507
|
+
* This function is useful for completely relaxing a motor once it has reached the target position.
|
508
|
+
*/
|
509
|
+
rb_define_method(ph_motor, "getEngaged", ph_motor_get_engaged, 0);
|
510
|
+
rb_define_alias(ph_motor, "engaged?", "getEngaged");
|
511
|
+
|
512
|
+
/* Document-method: setEngaged
|
513
|
+
* call-seq: setEngaged(engaged)
|
514
|
+
*
|
515
|
+
* When engaged, a motor has the ability to be positioned. When disengaged, no commands are sent to the motor.
|
516
|
+
* This function is useful for completely relaxing a motor once it has reached the target position.
|
517
|
+
*/
|
518
|
+
rb_define_method(ph_motor, "setEngaged", ph_motor_set_engaged, 1);
|
519
|
+
rb_define_alias(ph_motor, "engaged=", "setEngaged");
|
520
|
+
|
521
|
+
/* Document-method: getFanMode
|
522
|
+
* call-seq: getFanMode -> fan_mode
|
523
|
+
*
|
524
|
+
* The FanMode dictates the operating condition of the fan.
|
525
|
+
* Choose between on, off, or automatic (based on temperature).
|
526
|
+
* If the FanMode is set to automatic, the fan will turn on when the temperature reaches 70°C and it will remain on until the temperature falls below 55°C.
|
527
|
+
* If the FanMode is off, the controller will still turn on the fan if the temperature reaches 85°C and it will remain on until it falls below 70°C.
|
528
|
+
*/
|
529
|
+
rb_define_method(ph_motor, "getFanMode", ph_motor_get_fan_mode, 0);
|
530
|
+
rb_define_alias(ph_motor, "fan_mode", "getFanMode");
|
531
|
+
|
532
|
+
/* Document-method: setFanMode
|
533
|
+
* call-seq: setFanMode(fan_mode)
|
534
|
+
*
|
535
|
+
* The FanMode dictates the operating condition of the fan.
|
536
|
+
* Choose between on, off, or automatic (based on temperature).
|
537
|
+
* If the FanMode is set to automatic, the fan will turn on when the temperature reaches 70°C and it will remain on until the temperature falls below 55°C.
|
538
|
+
* If the FanMode is off, the controller will still turn on the fan if the temperature reaches 85°C and it will remain on until it falls below 70°C.
|
539
|
+
*/
|
540
|
+
rb_define_method(ph_motor, "setFanMode", ph_motor_set_fan_mode, 1);
|
541
|
+
rb_define_alias(ph_motor, "fan_mode=", "setFanMode");
|
542
|
+
|
543
|
+
/* Document-method: getIOMode
|
544
|
+
* call-seq: getIOMode -> io_mode
|
545
|
+
*
|
546
|
+
* The encoder interface mode. Match the mode to the type of encoder you have attached.
|
547
|
+
* It is recommended to only change this when the encoder is disabled in order to avoid unexpected results.
|
548
|
+
*/
|
549
|
+
rb_define_method(ph_motor, "getIOMode", ph_motor_get_io_mode, 0);
|
550
|
+
rb_define_alias(ph_motor, "io_mode", "getIOMode");
|
551
|
+
|
552
|
+
/* Document-method: setIOMode
|
553
|
+
* call-seq: setIOMode(io_mode)
|
554
|
+
*
|
555
|
+
* The encoder interface mode. Match the mode to the type of encoder you have attached.
|
556
|
+
* It is recommended to only change this when the encoder is disabled in order to avoid unexpected results.
|
557
|
+
*/
|
558
|
+
rb_define_method(ph_motor, "setIOMode", ph_motor_set_io_mode, 1);
|
559
|
+
rb_define_alias(ph_motor, "io_mode=", "setIOMode");
|
560
|
+
|
561
|
+
/* Document-method: getKd
|
562
|
+
* call-seq: getKd -> kd
|
563
|
+
*
|
564
|
+
* Derivative gain constant. A higher Kd will help reduce oscillations.
|
565
|
+
*/
|
566
|
+
rb_define_method(ph_motor, "getKd", ph_motor_get_kd, 0);
|
567
|
+
rb_define_alias(ph_motor, "kd", "getKd");
|
568
|
+
|
569
|
+
/* Document-method: setKd
|
570
|
+
* call-seq: setKd(kd)
|
571
|
+
*
|
572
|
+
* Derivative gain constant. A higher Kd will help reduce oscillations.
|
573
|
+
*/
|
574
|
+
rb_define_method(ph_motor, "setKd", ph_motor_set_kd, 1);
|
575
|
+
rb_define_alias(ph_motor, "kd=", "setKd");
|
576
|
+
|
577
|
+
/* Document-method: getKi
|
578
|
+
* call-seq: getKi -> ki
|
579
|
+
*
|
580
|
+
* Integral gain constant. The integral term will help eliminate steady-state error.
|
581
|
+
*/
|
582
|
+
rb_define_method(ph_motor, "getKi", ph_motor_get_ki, 0);
|
583
|
+
rb_define_alias(ph_motor, "ki", "getKi");
|
584
|
+
|
585
|
+
/* Document-method: setKi
|
586
|
+
* call-seq: setKi(ki)
|
587
|
+
*
|
588
|
+
* Integral gain constant. The integral term will help eliminate steady-state error.
|
589
|
+
*/
|
590
|
+
rb_define_method(ph_motor, "setKi", ph_motor_set_ki, 1);
|
591
|
+
rb_define_alias(ph_motor, "ki=", "setKi");
|
592
|
+
|
593
|
+
/* Document-method: getKp
|
594
|
+
* call-seq: getKp -> kp
|
595
|
+
*
|
596
|
+
* Proportional gain constant. A small Kp value will result in a less responsive controller, however, if Kp is too high, the system can become unstable.
|
597
|
+
*/
|
598
|
+
rb_define_method(ph_motor, "getKp", ph_motor_get_kp, 0);
|
599
|
+
rb_define_alias(ph_motor, "kp", "getKp");
|
600
|
+
|
601
|
+
/* Document-method: setKp
|
602
|
+
* call-seq: setKp(kp)
|
603
|
+
*
|
604
|
+
* Proportional gain constant. A small Kp value will result in a less responsive controller, however, if Kp is too high, the system can become unstable.
|
605
|
+
*/
|
606
|
+
rb_define_method(ph_motor, "setKp", ph_motor_set_kp, 1);
|
607
|
+
rb_define_alias(ph_motor, "kp=", "setKp");
|
608
|
+
|
609
|
+
/* Document-method: getPosition
|
610
|
+
* call-seq: getPosition -> position
|
611
|
+
*
|
612
|
+
* The most recent position value that the controller has reported.
|
613
|
+
* This value will always be between MinPosition and MaxPosition.
|
614
|
+
* Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor.
|
615
|
+
* The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
|
616
|
+
*/
|
617
|
+
rb_define_method(ph_motor, "getPosition", ph_motor_get_position, 0);
|
618
|
+
rb_define_alias(ph_motor, "position", "getPosition");
|
619
|
+
|
620
|
+
/* Document-method: getMinPosition
|
621
|
+
* call-seq: getMinPosition -> min_position
|
622
|
+
*
|
623
|
+
* The minimum value that TargetPosition can be set to.
|
624
|
+
*/
|
625
|
+
rb_define_method(ph_motor, "getMinPosition", ph_motor_get_min_position, 0);
|
626
|
+
rb_define_alias(ph_motor, "min_position", "getMinPosition");
|
627
|
+
|
628
|
+
/* Document-method: getMaxPosition
|
629
|
+
* call-seq: getMaxPosition -> max_position
|
630
|
+
*
|
631
|
+
* The maximum value that TargetPosition can be set to.
|
632
|
+
*/
|
633
|
+
rb_define_method(ph_motor, "getMaxPosition", ph_motor_get_max_position, 0);
|
634
|
+
rb_define_alias(ph_motor, "max_position", "getMaxPosition");
|
635
|
+
|
636
|
+
/* Document-method: addPositionOffset
|
637
|
+
* call-seq: addPositionOffset(offset)
|
638
|
+
*
|
639
|
+
* Adds an offset (positive or negative) to the current position. Useful for zeroing position.
|
640
|
+
*/
|
641
|
+
rb_define_method(ph_motor, "addPositionOffset", ph_motor_add_position_offset, 1);
|
642
|
+
rb_define_alias(ph_motor, "add_position_offset", "addPositionOffset");
|
643
|
+
|
644
|
+
/* Document-method: getRescaleFactor
|
645
|
+
* call-seq: getRescaleFactor -> rescale_factor
|
646
|
+
*
|
647
|
+
* Change the units of your parameters so that your application is more intuitive.
|
648
|
+
* Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor.
|
649
|
+
* The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
|
650
|
+
*/
|
651
|
+
rb_define_method(ph_motor, "getRescaleFactor", ph_motor_get_rescale_factor, 0);
|
652
|
+
rb_define_alias(ph_motor, "rescale_factor", "getRescaleFactor");
|
653
|
+
|
654
|
+
/* Document-method: setRescaleFactor
|
655
|
+
* call-seq: setRescaleFactor(rescale_factor)
|
656
|
+
*
|
657
|
+
* Change the units of your parameters so that your application is more intuitive.
|
658
|
+
* Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor.
|
659
|
+
* The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
|
660
|
+
*/
|
661
|
+
rb_define_method(ph_motor, "setRescaleFactor", ph_motor_set_rescale_factor, 1);
|
662
|
+
rb_define_alias(ph_motor, "rescale_factor=", "setRescaleFactor");
|
663
|
+
|
664
|
+
/* Document-method: getStallVelocity
|
665
|
+
* call-seq: getStallVelocity -> stall_velocity
|
666
|
+
*
|
667
|
+
* Before reading this description, it is important to note the difference between the units of StallVelocity and Velocity.
|
668
|
+
* Velocity is a number between -1 and 1 with units of 'duty cycle'. It simply represents the average voltage across the motor.
|
669
|
+
* StallVelocity represents a real velocity (e.g. m/s, RPM, etc.) and the units are determined by the RescaleFactor.
|
670
|
+
* With a RescaleFactor of 1, the default units would be in commutations per second.
|
671
|
+
* If the load on your motor is large, your motor may begin rotating more slowly, or even fully stall.
|
672
|
+
* Depending on the voltage across your motor, this may result in a large amount of current through both the controller and the motor.
|
673
|
+
* In order to prevent damage in these situations, you can use the StallVelocity property.
|
674
|
+
*
|
675
|
+
* The StallVelocity should be set to the lowest velocity you would expect from your motor.
|
676
|
+
* The controller will then monitor the motor's velocity, as well as the Velocity, and prevent a 'dangerous stall' from occuring.
|
677
|
+
* If the controller detects a dangerous stall, it will immediately disengage the motor (i.e. Engaged will be set to false) and an error will be reported to your program.
|
678
|
+
* A 'dangerous stall' will occur faster when the Velocity is higher (i.e. when the average voltage across the motor is higher)
|
679
|
+
* A 'dangerous stall' will occur faster as (StallVelocity - motor velocity) becomes larger .
|
680
|
+
* Setting StallVelocity to 0 will turn off stall protection functionality.
|
681
|
+
*/
|
682
|
+
rb_define_method(ph_motor, "getStallVelocity", ph_motor_get_stall_velocity, 0);
|
683
|
+
rb_define_alias(ph_motor, "stall_velocity", "getStallVelocity");
|
684
|
+
|
685
|
+
/* Document-method: setStallVelocity
|
686
|
+
* call-seq: setStallVelocity(stall_velocity)
|
687
|
+
*
|
688
|
+
* Before reading this description, it is important to note the difference between the units of StallVelocity and Velocity.
|
689
|
+
* Velocity is a number between -1 and 1 with units of 'duty cycle'. It simply represents the average voltage across the motor.
|
690
|
+
* StallVelocity represents a real velocity (e.g. m/s, RPM, etc.) and the units are determined by the RescaleFactor.
|
691
|
+
* With a RescaleFactor of 1, the default units would be in commutations per second.
|
692
|
+
* If the load on your motor is large, your motor may begin rotating more slowly, or even fully stall.
|
693
|
+
* Depending on the voltage across your motor, this may result in a large amount of current through both the controller and the motor.
|
694
|
+
* In order to prevent damage in these situations, you can use the StallVelocity property.
|
695
|
+
*
|
696
|
+
* The StallVelocity should be set to the lowest velocity you would expect from your motor.
|
697
|
+
* The controller will then monitor the motor's velocity, as well as the Velocity, and prevent a 'dangerous stall' from occuring.
|
698
|
+
* If the controller detects a dangerous stall, it will immediately disengage the motor (i.e. Engaged will be set to false) and an error will be reported to your program.
|
699
|
+
* A 'dangerous stall' will occur faster when the Velocity is higher (i.e. when the average voltage across the motor is higher)
|
700
|
+
* A 'dangerous stall' will occur faster as (StallVelocity - motor velocity) becomes larger .
|
701
|
+
* Setting StallVelocity to 0 will turn off stall protection functionality.
|
702
|
+
*/
|
703
|
+
rb_define_method(ph_motor, "setStallVelocity", ph_motor_set_stall_velocity, 1);
|
704
|
+
rb_define_alias(ph_motor, "stall_velocity=", "setStallVelocity");
|
705
|
+
|
706
|
+
/* Document-method: getMinStallVelocity
|
707
|
+
* call-seq: getMinStallVelocity -> stall_velocity
|
708
|
+
*
|
709
|
+
* The lower bound of StallVelocity.
|
710
|
+
*/
|
711
|
+
rb_define_method(ph_motor, "getMinStallVelocity", ph_motor_get_min_stall_velocity, 0);
|
712
|
+
rb_define_alias(ph_motor, "min_stall_velocity", "getMinStallVelocity");
|
713
|
+
|
714
|
+
/* Document-method: getMaxStallVelocity
|
715
|
+
* call-seq: getMaxStallVelocity -> stall_velocity
|
716
|
+
*
|
717
|
+
* The upper bound of StallVelocity.
|
718
|
+
*/
|
719
|
+
rb_define_method(ph_motor, "getMaxStallVelocity", ph_motor_get_max_stall_velocity, 0);
|
720
|
+
rb_define_alias(ph_motor, "max_stall_velocity", "getMaxStallVelocity");
|
721
|
+
|
722
|
+
/* Document-method: getTargetPosition
|
723
|
+
* call-seq: getTargetPosition -> target_position
|
724
|
+
*
|
725
|
+
* If the controller is configured and the TargetPosition is set, the motor will try to reach the TargetPosition.
|
726
|
+
* If the DeadBand is non-zero, the final position of the motor may not match the TargetPosition
|
727
|
+
* Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor.
|
728
|
+
* The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
|
729
|
+
*/
|
730
|
+
rb_define_method(ph_motor, "getTargetPosition", ph_motor_get_target_position, 0);
|
731
|
+
rb_define_alias(ph_motor, "target_position", "getTargetPosition");
|
732
|
+
|
733
|
+
/* Document-method: setTargetPosition
|
734
|
+
* call-seq: setTargetPosition(target_position)
|
735
|
+
*
|
736
|
+
* If the controller is configured and the TargetPosition is set, the motor will try to reach the TargetPosition.
|
737
|
+
* If the DeadBand is non-zero, the final position of the motor may not match the TargetPosition
|
738
|
+
* Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor.
|
739
|
+
* The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
|
740
|
+
*/
|
741
|
+
rb_define_method(ph_motor, "setTargetPosition", ph_motor_set_target_position, 1);
|
742
|
+
rb_define_alias(ph_motor, "target_position=", "setTargetPosition");
|
743
|
+
|
744
|
+
/* Document-method: getVelocityLimit
|
745
|
+
* call-seq: getVelocityLimit -> velocity_limit
|
746
|
+
*
|
747
|
+
* When moving, the motor velocity will be limited by this value.
|
748
|
+
* VelocityLimit is bounded by MinVelocityLimit and MaxVelocityLimit.
|
749
|
+
* Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor.
|
750
|
+
* The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
|
751
|
+
*/
|
752
|
+
rb_define_method(ph_motor, "getVelocityLimit", ph_motor_get_velocity_limit, 0);
|
753
|
+
rb_define_alias(ph_motor, "velocity_limit", "getVelocityLimit");
|
754
|
+
|
755
|
+
/* Document-method: setVelocityLimit
|
756
|
+
* call-seq: setVelocityLimit(velocity_limit)
|
757
|
+
*
|
758
|
+
* When moving, the motor velocity will be limited by this value.
|
759
|
+
* VelocityLimit is bounded by MinVelocityLimit and MaxVelocityLimit.
|
760
|
+
* Units for Position, VelocityLimit, Acceleration, and DeadBand can be set by the user through the RescaleFactor.
|
761
|
+
* The RescaleFactor allows you to use more intuitive units such as rotations, or degrees.
|
762
|
+
*/
|
763
|
+
rb_define_method(ph_motor, "setVelocityLimit", ph_motor_set_velocity_limit, 1);
|
764
|
+
rb_define_alias(ph_motor, "velocity_limit=", "setVelocityLimit");
|
765
|
+
|
766
|
+
/* Document-method: getMinVelocityLimit
|
767
|
+
* call-seq: getMinVelocityLimit -> velocity_limit
|
768
|
+
*
|
769
|
+
* The minimum value that VelocityLimit can be set to.
|
770
|
+
*/
|
771
|
+
rb_define_method(ph_motor, "getMinVelocityLimit", ph_motor_get_min_velocity_limit, 0);
|
772
|
+
rb_define_alias(ph_motor, "min_velocity_limit", "getMinVelocityLimit");
|
773
|
+
|
774
|
+
/* Document-method: getMaxVelocityLimit
|
775
|
+
* call-seq: getMaxVelocityLimit -> velocity_limit
|
776
|
+
*
|
777
|
+
* The maximum value that VelocityLimit can be set to.
|
778
|
+
*/
|
779
|
+
rb_define_method(ph_motor, "getMaxVelocityLimit", ph_motor_get_max_velocity_limit, 0);
|
780
|
+
rb_define_alias(ph_motor, "max_velocity_limit", "getMaxVelocityLimit");
|
781
|
+
|
782
|
+
|
783
|
+
rb_define_private_method(ph_motor, "ext_setOnDutyCycleUpdateHandler", ph_motor_set_on_duty_cycle_update_handler, 1);
|
784
|
+
rb_define_private_method(ph_motor, "ext_setOnPositionChangeHandler", ph_motor_set_on_position_change_handler, 1);
|
785
|
+
rb_define_private_method(ph_motor, "ext_setTargetPosition_async", ph_motor_set_target_position_async, 2);
|
786
|
+
}
|
787
|
+
|