Manual

Return value: void

Remarks:

1. The specified channel (motor) will be enabled automatically by the system when

this command is received

2. Target pulse width value range is 0 to 32767 (0x7FFF), corresponding to the duty

cycle of 0 to 100% linearly.

3. A pulse width value of 16383 means 50% duty cycle, putting motor in “Stop” stage.

Any value in between 16384 - 32767 will put the motor to turn clockwise (facing

the front side of the motor) and any value in between 0 – 16362 will put the motor

to turn counter-clockwise.

See also: DcMotorPwmTimeCtr

98 void DcMotorPositionTimeCtrAll(short cmd1, short cmd2, short cmd3, short cmd4,

short cmd5, short cmd6, short timePeriod);

Description:

DcMotorPositionTimeCtrAll sends the position control command to all 6 DC motor control

channels on the sensing and motion controller (PMS5005) at the same time. The command

includes the target positions and the time period to execute the command. The current

trajectory planning method for time control is linear.

Syntax: DcMotorPositionTimeCtrAll (cmd1, cmd2, cmd3, cmd4, cmd5, cmd6,

timePeriod);

Parameter: short cmd1; // Target position for channel #1

short cmd2; // Target position for channel #2

short cmd3; // Target position for channel #3

short cmd4; // Target position for channel #4

short cmd5; // Target position for channel #5

short cmd6; // Target position for channel #6

short timePeriod; // Executing time in milliseconds

Return value: void

Remarks:

1. All DC Motors will be enabled automatically by the system when this command is

received.

2. Target position value is in the A/D sampling data range 0 to 4095 when using

single potentiometer, 0-4428 when using dual potentiometers.

3. Please refer to the description of GetSensorPot for data converting between

angular values and the A/D sampling data values.

4. When using encoder as sensor input, the target position value is the pulse count in

the range of 0- 32767.

5. When some motors are not under controlled, their command values should be set

as -32768 (0x8000). That means NO_CONTROL.