Class EncoderMotorI2C - GSTCH/SketchMadeEASY GitHub Wiki

Actuator EncoderMotorI2C

Topic	Specification
Description	This class controls a rotating drive. The motor is controlled with an Adafruit Motor Shield Version 2. This is able to control up to 4 motors. It’s connected via I2C Bus. Up to 32 are stackable. An encoder motor has a rotary encoder to control the speed. The logic contains a PID regulator to hold the speed on the demanded value. Sketch Made EASY supports up to 6 encoders in a sketch. This means that up to 6 encoder motors can be operated at the same time.
Constructor	EncoderMotorI2C(int MotorNr, int SensorAPin, int SensorBPin, int PPR, int GearRatio, int MaxSpeed) Parameter MotorNr: Motor 1 to 4 of the shield SensorAPin: Rotary Encoder A-Signal SensorBPin: Rotary Encoder B-Signal PPR: Pulses per Revolution of the rotary encoder GearRatio: GearRatio: Gear ration of the motor MaxSpeed: Sketch Made EASY includes an auto map from input to actuator. When set value to > 0, the map is active and maps speed to 0…MaxSpeed depending on the assigned input. When set value to 0, the logic takes the value of the input, assigned by a relation without map.
Range	0…255
Samples	EncoderMotorI2C* encoderMotor = new EncoderMotorI2C(2, 3, 4, 7, 34, 0);
Examples	Test 41
Advanced	More encoder motors: Increase the const EASY_MAX_ENCODERS in the file “src\Kernel\RotaryEncoder.h” of the library. Plot: In the test are two #defines: define PLOT_ENCODERMOTOR and PLOT_ROTARYENCODER in the file “Common/BuildDefinition.h”. Uncomment one of them to plot with the Arduino IDE. PLOT_ENCODERMOTOR T: Target rotational speed [1/min] REr: Rotary encoder rotational speed [1/min] Ref: Filtered rotational speed (includes a low-pass filter) [1/min] CS: Calculated speed, set by PID<BRP: Proportional term P of the regulator I: Integrates past term I of the regulator D: Diverential future term D of the regulator There’s a constructor with the PID-factors (default 10/0/50): EncoderMotorI2C(int MotorNr, int SensorAPin, int SensorBPin, int PPR, int GearRatio, int MaxSpeed, float KP, float KI, float KD) PLOT_ROTARYENCODER Pos: Pulse Counter RPMr: Rotational speed [1/min] RPMf: Filtered rotational speed (includes a low-pass filter) [1/min]

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