Component: Control (AllCode)

Author	Matrix TSL
Version	1.0
Category	AllCode

Control component

Drives the Matrix Control hardware via the AllCode API.

Component Pack

FREE

Detailed description

No detailed description exists yet for this component

Examples

No additional examples

Downloadable macro reference

	SetAutoPrescaler
Configures the automatic mode prescaler, for running really slowly. Defaults off so no need to call this unless you are using it.
- BYTE	Prescaler
0=Off, 2=Div by 2, 3=Div By 3 etc
- VOID	Return

	GetOutput
Gets the output value as an integer value betwen 0 and 100 representing the output PWM duty
- BYTE	Return

	SetAutoOnOff
Enable the auto PID control using the on-board microcontroller
- BYTE	Channel
Range: 0-1
- BYTE	Enable
0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz
- VOID	Return

	SetWIFIPort
Configures the WIFI Port number. Default 1245.
- UINT	Port
Default 1245
- VOID	Return

	SetAutoPIDFlip
Controls if the PID response is flipped, a negative response vs a positive
- BOOL	Flip
Default: 0=Not Flipped, 1=Flipped
- VOID	Return

	SetBluetoothDetails
Configures the Bluetooth device name and pin and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.
- STRING	Name
Bluetooth Device String, Max 20 Characters
- STRING	Pin
Pin String, 4 Numeric Characters e.g. "1234"
- VOID	Return

	GetDataArray
Collects a data array from the Control board. Returns number of samples collected.
- FLOAT	data
- BYTE	Return

	GetWifiIP
Collects the IP address of the robot arm WIFI connection.
- STRING	Return

	SetWifiDetails
Configures the WIFI SSID and Password strings and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.
- STRING	SSID
Netword ID String, Max 32 Characters
- STRING	Password
Password String, Max 32 Characters
- VOID	Return

	ResetToBoot
Resets the board into bootload mode for reprogramming. Comms port will be closed on calling this macro,
- VOID	Return

	SetAutoOnOffParam
Sets the Hysteresis parameter for the Auto on-board On/Off
- FLOAT	Hysteresis
Hysterists in real world units
- VOID	Return

	SetWifiMode
Configures the WIFI mode. When enabled the control system can either create its own WIFI network or join an existing WIFI network,
- BYTE	Mode
0=Disabled, 1=Host Network, 2=Join Network
- VOID	Return

	GetPIDComponent
Gets one of the PID controller output components in real world units
- BYTE	Index
Range 0-2, 0=P, 1=I, 2=D
- FLOAT	Return

	SetEthernetPort
Configures the Ethernet Port number. Default 1245.
- UINT	Port
Default 1245
- VOID	Return

	SetEthernetIP
Configures the Ethernet IP Address.
- STRING	IP
IP Address string e.g. "192.168.1.100"
- VOID	Return

	SetCANID
Stores the specified CAN ID into an internal none volatile memory location.
- UINT	ID
- VOID	Return

	GetFeedback
Gets the feedback as a value in real world units
- FLOAT	Return

	GetAPI
Gets the API version number
- BYTE	Return

	SetManualDuty
Sets duty parameter for one of the manual controlled outputs
- BYTE	Channel
Range: 0-1
- FLOAT	Duty
Duty Cycle Output in Percentage Range 0 - 100%
- VOID	Return

	CheckErrorStatus
Returns the Error status value indicating if there has been any errors. 0 = No Error 1 = Timeout Error
- BYTE	Return

	SetCANMode
Configures if the CAN API mde is enabled or disabled.
- BYTE	Mode
0=Disabled / 1=Enabled
- VOID	Return

	SetAutoPID
Enable the auto PID control using the on-board microcontroller
- BYTE	Channel
Range: 0-1
- BYTE	Enable
0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz
- VOID	Return

	SetLogDivider
Configures the rate of the PID logging.
- BYTE	Divider
Divides the rate by the selected value
- VOID	Return

	ZeroSensor
Zeros the attached sensor reading. Useful for Pressure and Level control applications.
- VOID	Return

	SetAutoPIDParam
Sets one of the P, I, D parameters for the Auto on-board PID
- BYTE	Index
Range: 0-5 Where 0=P, 1=I, 2=D, 3=IntClamp, 4=DFilt, 5=FiltCo
- FLOAT	Value
Range: 0.0 to 65.535
- VOID	Return

	SetEthernetMode
Configures the Ethernet mode.
- BYTE	Mode
0=Disabled, 1=Enabled
- VOID	Return

	SetBluetoothMode
Configures the Bluetooth mode.
- BOOL	Mode
0=Disabled, 1=Enabled
- VOID	Return

	Initialise
- VOID	Return

	SetFeedbackMethod
Sets feedback method to dictate which control application we are running
- BYTE	FBMethod
Range: 0-3 Where 0=Level, 1=Flow, 2=Pressure, 3=Temp
- FLOAT	InputScaler
Feedback scaling factor used to convert the feedback reading into a meaningful value
- FLOAT	OutputScaler
Value used to convert input to 0-100% duty
- VOID	Return

	SetSetpoint
Sets Setpoint parameter for the Auto on-board PID
- FLOAT	Setpoint
Required Output in Real World Units
- VOID	Return

Property reference

	Properties
	Comms Method
Selects the method to communicate with the Matrix 3 Axis Robot Arm. USB connection requires the USB drivers to be installed. Bluetooth connection requires the device first be paired using the Windows Bluetooth control panel. WIFI connection requires the connection settings to be configured first on the robot using USB or Bluetooth. CAN connection does not simulate and works on embedded hardware e.g. the MIAC.
	Autodetect
Autodetects the COM port, only works for USB AllCode connection.
	COM Port
Selects which port to communicate with, only lists ports which are currently available.
	Network Interface
Some computers may have several network interfaces such as ethernet ports and wifi access. Select the correct network interface for the network you wish to connect to. Use the IP address to confirm you are connected to the right network.
	Local IP Address
IP Address of the selected network interface.
	Control IP Address
IP address of the Control Board. You can find the IP address by connecting using USB and running the GetIP component macro. You may first need to configure the Control Board in WIFI mode by providing the network SSID and Password.
	Port
Allows the Control TCP/IP Port to be selected. Default 1245.
	Channel
Switches between Internal CAN peripheral and External CAN controller IC MCP2515.
	Text Colour
	Connections
	Simulations