User manual

Copyright © Dr Robot Inc. 2005
47
Syntax: SetDcMotorSensorUsage (channel, SensorType)
Parameter: short channel; // 0, 1, 2, 3, 4, or 5 for single potentiometer sensor
// 0, 1, or 2 for dual potentiometer sensor
// 0 or 1 for quadrature encoder
short SensorType; // 0 -- Single potentiometer sensor
// 1 -- Dual potentiometer sensor
// 2 – Quadrature encoder
Return value: void
Remarks:
1. The electrical angular range of the potentiometer position sensor is 0˚ to 332˚ and
the corresponding mechanical rotation range is 14˚ to 346˚, when the 180
position is defined at sensor’s physical middle position.
2. Each DC motor channel for dual potentiometer sensor utilizes two potentiometer
channels. DC motor channel 0 will use potentiometer channel 0 and 5; DC motor
channel 1 will use potentiometer channel 1 and 4; DC motor channel 2 will use
potentiometer channel 2 and 3. Please refer to the relevant application note for the
use of dual potentiometers.
3. Quadrature encoder will only use DC motor channel 0 and 1.
4. System’s default setting for sensor usage is single potentiometer.
See also: GetSensorPot
91 void SetDcMotorControlMode (short channel, short controlMode);
Description:
SetDcMotorControlMode sets the control mode of the specified DC motor control channel
on the Sensing and Motion Controller (PMS5005). The available control modes are open-
loop PWM control, closed-loop position control, closed-loop velocity control.
Syntax: SetDcMotorControlMode (channel, controlMode)
Parameter: short channel; // 0, 1, 2, 3, 4, or 5
short controlMode; // 0 – Open-loop PWM Control
// 1 – Closed-loop Position Control
// 2 – Closed-loop Velocity Control
Return value: void
Remarks:
System’s default setting for control mode is Open-loop PWM Control.
See also: SetDcMotorPositionControlPID, SetDcMotorVelocityControlPID