EPOS4-Basic-Interfacing

This is an adaptation of original example provide by Maxon Motors with their Library. This program will help getting to speed quickly with EPOS4 controllers and allow rapid prototyping and testing.

Interface : USB

Motor : DCX22L

GearHead : GPX22LN

Encoder : ENX16EASY

Instructions to build and execute command:

1. Clone Repository
2. Navigate into folder
3. Run make to compile the C++ file
4. Call the executable as per the following usage guidelines

Usage:

./drive_motor mode mode_value mode_parameters

Available Modes :

Velocity Mode	Position Mode
mode_value : is the RPM value input to the controller. Allowed Range : (-104 to 104) RPM	mode_value : is the position value ( in terms of shaft rotation) input to the controller. Allowed Range : No limitations (ex: 2.5 rotations or 0.2 rotations)
mode_parameter - optional, can pass one to control data-logging. It sets the log interval for the data file. Default value for log interval is 1 second	mode_parameter - optional, can pass one/two to control RPM and data-logging. Parameter one sets the RPM during position seek and parameter two sets the log interval for data file. Default value for RPM is 36. Default value for log interval is 1 second
Termination: Controller will stay in this mode until kill signal (Ctrl+C)	Termination: Controller will exit after target position is reached, cannot force quit

Note: Killing power to the controller will stop all activity and reset the module

Example Commands:

Description	Command
To command the module to rotate at 45 RPM	./drive_motor vel 45
To command the module to rotate out at 45 RPM and log data at 0.5 second intervals	./drive_motor vel 45 0.5
To command the module to rotate to 0.5 turns	./drive_motor pos 0.5
To command the module to rotate to 10 turns at 50 RPM	./drive_motor pos 10 50
To command the module to rotate to 10 turns at 50 RPM and log data at 2 second intervals	./drive_motor pos 5 40 2

Data Output:

Data is written into a timestamped .csv file under the directory motor_data, with the following fields:

1. Velocity (RPM)
2. Position (QuadCounts)
3. Current (mA)
4. Time (time since epoch)