Component: Actuators (BL0127) (E-blocks 2)
| Author | Matrix TSL |
| Version | 1.0 |
| Category | E-blocks 2 |
Actuators component
The Actuators board allows for investigation into several different motor types. Included on the board is a DC motor with both analogue and digital feedback, a servo motor and a stepper motor plus the circuitry to drive the motors.
Version information
Library Version, Component Version, Date, Author, Info 4, 1.0, 08-05-25, BR, Added autodetect port on Ev_PostInitialise
Detailed description
No detailed description exists yet for this component
Examples
Demo program using the Eblocks 2 Actuators Board BL0127 connected to BL0011 PIC programmer
BL0127 Actuators Demo for PIC
Macro reference
DCMotor_Break
|
DCMotor_Break |
| Actively drives both ends of the motor by setting the pins according to the 'Brake Pattern' property. | |
 - VOID
|
Return |
DCMotor_Coast
|
|
DCMotor_Coast |
| Turn off power to the motor by setting the pins according to the 'Coast Pattern' property. | |
| - VOID
|
Return |
DCMotor_DC_Feedback
|
|
DCMotor_DC_Feedback |
 - BYTE
|
Return |
DCMotor_DC_FeedbackSim
|
|
DCMotor_DC_FeedbackSim |
| - BYTE
|
Return |
DCMotor_Disable
|
|
DCMotor_Disable |
| Disable the motor output | |
| - VOID
|
Return |
DCMotor_Enable
|
|
DCMotor_Enable |
| Enables the motor output | |
| - VOID
|
Return |
DCMotor_Forwards
|
|
DCMotor_Forwards |
| Set the motor turning in the forwards direction by setting the pins according to the 'Forwards Pattern' property. | |
 - UINT
|
Duty |
| Sets the motor power for PWM or H-Bridge outputs | |
| - VOID
|
Return |
DCMotor_Reverse
|
|
DCMotor_Reverse |
| Set the motor turning in the reverse direction by setting the pins according to the 'Reverse Pattern' property. | |
| - UINT
|
Duty |
| Sets the motor power for PWM or H-Bridge outputs | |
| - VOID
|
Return |
Servo_AutoMoveToPosition
|
|
Servo_AutoMoveToPosition |
| Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed. | |
| - BYTE
|
Channel |
| The channel to assign the new position. Range: 0-7 | |
| - BYTE
|
Position |
| Position to automatically move to. Range: 0-255 | |
| - VOID
|
Return |
Servo_AutoMoveToPositionInt
|
|
Servo_AutoMoveToPositionInt |
| Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed. | |
| - BYTE
|
Channel |
| The channel to assign the new position. Range: 0-7 | |
| - UINT
|
Position |
| Position to automatically move to. Range: 0-65535 | |
| - VOID
|
Return |
Servo_DisableServo
|
|
Servo_DisableServo |
| Disables a servo channel effectivly disabling the motor. | |
| - BYTE
|
Channel |
| The channel to set the position for. First channel is zero. | |
| - VOID
|
Return |
Servo_EnableServo
|
|
Servo_EnableServo |
| Enables a servo channel effectivly setting the position of the motor to the value in the local position variable. | |
| - BYTE
|
Channel |
| The channel to set the position for. First channel is zero. | |
| - VOID
|
Return |
Servo_Initialise
|
|
Servo_Initialise |
| Sets up the servo motor interrupts | |
| - VOID
|
Return |
Servo_IsAutoMoving
|
|
Servo_IsAutoMoving |
| Is the AutoMoveToPosition movement complete. Returns 1 if the servos are still moving. Returns 0 if all servo movement is complete. | |
| - BYTE
|
Return |
Servo_IsServoAutoMoving
|
|
Servo_IsServoAutoMoving |
| Is the AutoMoveToPosition movement complete for a specific servo output. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete. | |
| - BYTE
|
Channel |
| Servo Motor Output Range: 0-7 | |
| - BYTE
|
Return |
Servo_MoveToPosition
|
|
Servo_MoveToPosition |
| Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached. | |
| - BYTE
|
Channel |
| The channel to assign the new position. Range: 0-7 | |
| - BYTE
|
Position |
| Target position to move towards. Range: 0-255 | |
| - BYTE
|
Return |
Servo_MoveToPositionInt
|
|
Servo_MoveToPositionInt |
| Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached. | |
| - BYTE
|
Channel |
| The channel to assign the new position. Range: 0-7 | |
| - UINT
|
Position |
| Target position to move towards. Range: 0-65535 | |
| - BYTE
|
Return |
Servo_SetAutoMoveSpeed
|
|
Servo_SetAutoMoveSpeed |
| Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property. | |
| - BYTE
|
Speed |
| 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple | |
| - VOID
|
Return |
Servo_SetAutoMoveSpeedInt
|
|
Servo_SetAutoMoveSpeedInt |
| Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property. | |
| - UINT
|
Speed |
| 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple | |
| - VOID
|
Return |
Servo_SetPosition
|
|
Servo_SetPosition |
| Moves directly to the specified position with no interpolation. | |
| - BYTE
|
Channel |
| The channel to assign the new position. Range: 0-7 | |
| - BYTE
|
Position |
| Position to jump to. Range: 0-255 | |
| - VOID
|
Return |
Servo_SetPositionInt
|
|
Servo_SetPositionInt |
| Moves directly to the specified position with no interpolation. Uses a 16-bit position parameter to add extra precision. | |
| - BYTE
|
Channel |
| The channel to assign the new position. Range: 0-7 | |
| - UINT
|
Position |
| Position to jump to. Range: 0-65535 | |
| - VOID
|
Return |
Servo_SetTrim
|
|
Servo_SetTrim |
| Allows the level of trim for each servo channel to be adjusted progmatically. | |
| - BYTE
|
Channel |
| The channel to set the position for. First channel is zero. | |
| - BYTE
|
Trim |
| Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200 | |
| - VOID
|
Return |
Stepper_DecrementStep
|
|
Stepper_DecrementStep |
| Move the motor backwards by one step. | |
| - VOID
|
Return |
Stepper_DisableMotor
|
|
Stepper_DisableMotor |
| Turn off the motor. It will no longer respond to any other macros. | |
| - VOID
|
Return |
Stepper_EnableMotor
|
|
Stepper_EnableMotor |
| Turn on the motor. This must be done before it will respond to any other macros. | |
| - VOID
|
Return |
Stepper_IncrementStep
|
|
Stepper_IncrementStep |
| Move the motor forward by one step. | |
| - VOID
|
Return |
Property reference
|
Properties |
|
Connection Type |
|
|
DC Feedback type |
| Select if the feedback is a digital or analogue value. Note, if using an Arduino shield and port D is selected, then only digital type will be available. | |
|
Connections |
|
Port |
| Port C is not available on the Arduino shield, If port C is slected, it will default to port B. | |
|
|
Servo |
|
|
Trim |
|
|
Pulse Width |
|
Minimum (us) |
| Shortest pulse width that will be used in microseconds. | |
|
|
Maximum (us) |
| Longest pulse width used for the PWM signals in microseconds.. | |
|
|
Period Multiplier |
| Number of instructions for 1 / 256th of the positional accuracy. This sets the default movement speed to maintain legacy move speeds. Also sets the multiplication factor to convert from a byte 0-255 to a clocked position value. | |
Component Source Code
Please click here to download the component source project: FC_Comp_Source_EB_Actuators_BL0127.fcfx
Please click here to view the component source code (Beta): FC_Comp_Source_EB_Actuators_BL0127.fcfx