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ManualsBrandsDigilent ManualsDevelopment Boards & KitsDMC60C Digital Motor Controller CAN/PWM

1300 Henley Court

Pullman, WA 99163

509.334.6306

www.digilentinc.com

DMC60C Software Reference Manual

Revised 1/9/19

This manual applies to the DMC60C rev. E.1 with application firmware version 1.26 or newer and

bootloader 1.9 or newer

Other product and company names mentioned may be trademarks of their respective owners.

Page 1 of 16

Table of Contents

Table of Contents .................................................................................................................. 1

1. Initial Configuration (Web Configuration Utility) ............................................................. 3

1.1 Devices Panel.................................................................................................................... 3

1.1.1 Flashing Device LEDs ................................................................................................. 3

1.1.2 Advanced Settings ..................................................................................................... 3

1.2 Configurable Parameters ................................................................................................. 4

1.2.1 Device ........................................................................................................................ 4

1.2.2 Current Limits ............................................................................................................ 4

1.2.3 Limit Switches ........................................................................................................... 4

1.2.4 PID Tuning ................................................................................................................. 5

1.2.5 Soft Limits ................................................................................................................. 6

1.2.6 Faults ......................................................................................................................... 6

1.3 Saving Parameters ............................................................................................................ 6

1.4 Restore Defaults ............................................................................................................... 7

1.5 Updating Firmware .......................................................................................................... 7

1.6 Setting Brake/Coast .......................................................................................................... 7

2. Creating a DMC60C Object ............................................................................................. 7

2.1 FRC VS Code 2019 (C++/Java)........................................................................................... 7

2.2 Labview ............................................................................................................................. 8

3. Configuring the DMC60C ................................................................................................ 8

3.1 General Settings ............................................................................................................... 8

Summary of content (16 pages)

PAGE 1
300 Henley Court Pullman, WA 99163 509.334.6306 www.digilentinc.com DMC60C Software Reference Manual Revised 1/9/19 This manual applies to the DMC60C rev. E.1 with application firmware version 1.26 or newer and bootloader 1.9 or newer Table of Contents Table of Contents .................................................................................................................. 1 1. Initial Configuration (Web Configuration Utility) ............................................................. 3 1.
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DMC60C™ Software Reference Manual 4. 5. 6. 3.2 Open Loop ........................................................................................................................ 9 3.3 Closed Loop ...................................................................................................................... 9 3.4 Programmatically Setting Web Parameters ..................................................................... 9 Driving the DMC60C ..................................................
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DMC60C™ Software Reference Manual 1. Initial Configuration (Web Configuration Utility) The DMC60C configuration utility is automatically installed on the roboRIO when installing the DMC60C API (https://github.com/Digilent/dmc60c-frc-api). This server is run each time the roboRIO boots up. By default it is hosted on port 8000. Users can access the web configuration server by opening an internet browser and typing “roborio-[teamnumber]-frc.local:8000”, replacing [teamnumber] with the FRC team number.
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DMC60C™ Software Reference Manual 1.2 Configurable Parameters 1.2.1 Device • • Device ID - The device ID of the DMC60C on the CAN bus. This can be a number between 0 and 63. No two DMC60Cs should share a device ID. The DMC60C configuration utility will be able to tell them apart, but the robot application will not unless they have different device IDs. Device Name - The name of the DMC60C. This is used only in the web configuration utility to help keep track of which DMC60C is which. 1.2.
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DMC60C™ Software Reference Manual 1.2.4 PID Tuning There are two PID slots on the DMC60C. These can be configured separately and selected in software by calling SetPIDSlot(0 or 1). • • • • P Gain - The proportional gain constant. This constant is used during closed loop control to calculate a proportional increase or decrease in the throttle (duty cycle) due to the measured closed loop error.
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DMC60C™ Software Reference Manual • • • • Forward Max Duty Cycle – This parameter limits the maximum forward duty cycle that can be applied when this PID slot is in use. The value of this parameter should be between 0 and 32767. This value is used when driving the motor in one of the closed loop control modes (Velocity, Position, or Current). Reverse Max Duty Cycle - This parameter limits the maximum reverse duty cycle that can be applied when this PID slot is in use.
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DMC60C™ Software Reference Manual 1.4 Restore Defaults You can restore the parameters to their default values by clicking the button. You can also restore the default values by holding down the BRAKE/COAST CAL LED button when powering on the DMC60C. 1.5 Updating Firmware The DMC60C comes pre-loaded with both bootloader and application firmware images. The bootloader firmware version is fixed at version 1.9 (0x109) and is not meant to be updated. The application firmware should be 1.
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DMC60C™ Software Reference Manual 2. 3. 4. 5. 6. 7. 2.2 1. 2. 3. 4. Click the WPI logo on the top right. Go to Manage Vendor Libraries > Install new libraries (offline). If the DMC60C API has been installed, you should see Digilent-DMC60C. Select that and press OK. (C++)In your main robot.cpp, #include (Java)In you main robot.java import com.dmc60.DMC60C Create a new object: a. C++: DMC60::WPI_DMC60C * myDMC60C = new DMC60::WPI_DMC60C(deviceNum); b.
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DMC60C™ Software Reference Manual 3.2 • 3.3 • • • • 3.4 Open Loop configOpenLoopRampRate(unsigned short rampRate) – Sets the ramp rate used in open loop modes. The ramp rate is the number of “throttle units” (0 being 0% duty cycle, 32767 being 100% duty cycle) that the output can change each time the control loop executes (500us). This function can be used to limit the rate at which the motor speeds up. o rampRate – How fast the motor can speed up.
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DMC60C™ Software Reference Manual • o reverseSwitchEnable – If overrideEnable is true: enables or disables the reverse Limit Switch. setBrakeCoast(bool overrideEnable, bool brakeEnable) – Overrides the hardware brake/coast configuration. o overrideEnable – If true, overrides the brake/coast setting set by the brake/coast LED on the DMC60C. o brakeEnable – If overrideEnable is true: True sets the DMC60C to brake when a neutral output is applied, false set it to coast when a neutral output is applied. 4.
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DMC60C™ Software Reference Manual • 4.4 followerMode(int deviceNumbertoFollow) – Sets the DMC60C to follow another DMC60C on the CAN bus. o deviceNumbertoFollow – The device number of the master DMC60C. Disable Motor A disable motor command is included which tells the DMC60C to apply a neutral output to the motor. This function should be called if no other drive commands are being sent to the DMC60C to feed the FRC watchdog and motor safety controller.
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DMC60C™ Software Reference Manual • • • • • • • 5.4 • • getMetersPerSecond() – Returns the current velocity in meters per second. This is measured in a 100ms window. getEncoderPositionCount() – Returns the raw encoder position count. getEncoderVelocityCount() – Returns the raw velocity count logged from the encoder in the past 100ms. getP(unsigned int slot) – Returns the P constant of the specified PID slot. getI(unsigned int slot) – Returns the I constant of the specified PID slot.
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DMC60C™ Software Reference Manual 6.1.1 C++ (Robot.cpp) /*----------------------------------------------------------------------------*/ /* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ /*----------------------------------------------------------------------------*/ #include "Robot.
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DMC60C™ Software Reference Manual 6.1.2 Java (Robot.java) /*----------------------------------------------------------------------------*/ /* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ /*----------------------------------------------------------------------------*/ package frc.robot; import edu.wpi.first.wpilibj.
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DMC60C™ Software Reference Manual 6.2 Tuning closed loop parameters The DMC60C features two closed-loop control modes, position mode and velocity mode, that require a quadrature encoder. These modes require proper PID configuration to operate correctly. The PID constants can be set programmatically (section 4.4), although we recommend setting them in the web configuration utility (section 2.2.4).
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DMC60C™ Software Reference Manual limiting when the output current exceeds the continuous current limit value. It will then allow current to flow up to the peak current limit for the duration specified by peak current duration. After the peak current duration time has passed, the current will be limited to the value specified by the continuous current limit.