Tic.h File Reference

#include <Arduino.h>
#include <Stream.h>
#include <Wire.h>

Include dependency graph for Tic.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	TicBase
class	TicSerial
class	TicI2C

Enumerations
enum	TicProduct {   Unknown = 0, T825 = 1, T834 = 2, T500 = 3,   T249 = 4, Tic36v4 = 5 }
enum	TicError {   IntentionallyDeenergized = 0, MotorDriverError = 1, LowVin = 2, KillSwitch = 3,   RequiredInputInvalid = 4, SerialError = 5, CommandTimeout = 6, SafeStartViolation = 7,   ErrLineHigh = 8, SerialFraming = 16, RxOverrun = 17, Format = 18,   Crc = 19, EncoderSkip = 20 }
enum	TicCommand {   SetTargetPosition = 0xE0, SetTargetVelocity = 0xE3, HaltAndSetPosition = 0xEC, HaltAndHold = 0x89,   GoHome = 0x97, ResetCommandTimeout = 0x8C, Deenergize = 0x86, Energize = 0x85,   ExitSafeStart = 0x83, EnterSafeStart = 0x8F, Reset = 0xB0, ClearDriverError = 0x8A,   SetSpeedMax = 0xE6, SetStartingSpeed = 0xE5, SetAccelMax = 0xEA, SetDecelMax = 0xE9,   SetStepMode = 0x94, SetCurrentLimit = 0x91, SetDecayMode = 0x92, SetAgcOption = 0x98,   GetVariable = 0xA1, GetVariableAndClearErrorsOccurred = 0xA2, GetSetting = 0xA8 }
enum	TicOperationState {   Reset = 0, Deenergized = 2, SoftError = 4, WaitingForErrLine = 6,   StartingUp = 8, Normal = 10 }
enum	TicPlanningMode { Off = 0, TargetPosition = 1, TargetVelocity = 2 }
enum	TicReset {   PowerUp = 0, Brownout = 1, ResetLine = 2, Watchdog = 4,   Software = 8, StackOverflow = 16, StackUnderflow = 32 }
enum	TicDecayMode {   TicDecayMode::Mixed = 0, TicDecayMode::Slow = 1, TicDecayMode::Fast = 2, TicDecayMode::Mixed50 = 0,   TicDecayMode::Mixed25 = 3, TicDecayMode::Mixed75 = 4 }
enum	TicStepMode {   Full = 0, Half = 1, Microstep1 = 0, Microstep2 = 1,   Microstep4 = 2, Microstep8 = 3, Microstep16 = 4, Microstep32 = 5,   Microstep2_100p = 6, Microstep64 = 7, Microstep128 = 8, Microstep256 = 9 }
enum	TicAgcMode { Off = 0, On = 1, ActiveOff = 2 }
enum	TicAgcBottomCurrentLimit {   P45 = 0, P50 = 1, P55 = 2, P60 = 3,   P65 = 4, P70 = 5, P75 = 6, P80 = 7 }
enum	TicAgcCurrentBoostSteps { S5 = 0, S7 = 1, S9 = 2, S11 = 3 }
enum	TicAgcFrequencyLimit { Off = 0, F225Hz = 1, F450Hz = 2, F675Hz = 3 }
enum	TicPin {   SCL = 0, SDA = 1, TX = 2, RX = 3,   RC = 4 }
	This enum defines the Tic's control pins.
enum	TicPinState { HighImpedance = 0, InputPullUp = 1, OutputLow = 2, OutputHigh = 3 }
enum	TicInputState {   TicInputState::NotReady = 0, TicInputState::Invalid = 1, TicInputState::Halt = 2, TicInputState::Position = 3,   TicInputState::Velocity = 4 }
	This enum defines the possible states of the Tic's main input. More...
enum	TicMiscFlags1 {   Energized = 0, PositionUncertain = 1, ForwardLimitActive = 2, ReverseLimitActive = 3,   HomingActive = 4 }
enum	TicMotorDriverError { None = 0, OverCurrent = 1, OverTemperature = 2 }
enum	TicHpDriverError {   OverTemperature = 0, OverCurrentA = 1, OverCurrentB = 2, PreDriverFaultA = 3,   PreDriverFaultB = 4, UnderVoltage = 5, Verify = 7 }

Variables
const uint8_t	TicCurrentUnits = 32
const uint8_t	TicT249CurrentUnits = 40
const uint16_t	TicInputNull = 0xFFFF

Detailed Description

This is the main header file for the Tic Stepper Motor Controller library for Arduino.

For more information about the library, see the main repository at: https://github.com/pololu/tic-arduino

Definition in file Tic.h.

Enumeration Type Documentation

TicAgcBottomCurrentLimit

enum TicAgcBottomCurrentLimit

strong

This enum defines possible AGC buttom current limit percentages.

See TicBase::setAgcBottomCurrentLimit() and TicBase:getAgcBottomCurrentLimit().

Definition at line 193 of file Tic.h.

TicAgcCurrentBoostSteps

enum TicAgcCurrentBoostSteps

strong

This enum defines possible AGC current boost steps values.

See TicBase::setAgcCurrentBoostSteps() and TicBase::getAgcCurrentBoostSteps().

Definition at line 209 of file Tic.h.

TicAgcFrequencyLimit

enum TicAgcFrequencyLimit

strong

This enuam defines possible AGC frequency limit values.

See TicBase::setAgcFrequencyLimit() and TicBase::getAgcFrequencyLimit().

Definition at line 220 of file Tic.h.

TicAgcMode

enum TicAgcMode

strong

This enum defines possible AGC modes.

See TicBase::setAgcMode() and TicBase::getAgcMode().

Definition at line 182 of file Tic.h.

TicCommand

enum TicCommand

strong

This enum defines the Tic command codes which are used for its serial, I2C, and USB interface. These codes are used by the library and you should not need to use them.

Definition at line 65 of file Tic.h.

TicDecayMode

enum TicDecayMode

strong

This enum defines the possible decay modes.

See TicBase::getDecayMode() and TicBase::setDecayMode().

Enumerator
Mixed	This specifies "Mixed" decay mode on the Tic T825 and "Mixed 50%" on the Tic T824.
Slow	This specifies "Slow" decay mode.
Fast	This specifies "Fast" decay mode.
Mixed50	This is the same as TicDecayMode::Mixed, but better expresses your intent if you want to use "Mixed 50' mode on a Tic T834.
Mixed25	This specifies "Mixed 25%" decay mode on the Tic T824 and is the same as TicDecayMode::Mixed on the Tic T825.
Mixed75	This specifies "Mixed 75%" decay mode on the Tic T824 and is the same as TicDecayMode::Mixed on the Tic T825.

Definition at line 134 of file Tic.h.

TicError

enum TicError

strong

This enum defines the Tic's error bits. See the "Error handling" section of the Tic user's guide for more information about what these errors mean.

See TicBase::getErrorStatus() and TicBase::getErrorsOccurred().

Definition at line 44 of file Tic.h.

TicHpDriverError

enum TicHpDriverError

strong

This enum defines the bits in the "Last HP driver errors" variable.

See TicBase::getLastHpDriverErrors().

Definition at line 296 of file Tic.h.

TicInputState

enum TicInputState

strong

This enum defines the possible states of the Tic's main input.

Enumerator
NotReady	The input is not ready yet. More samples are needed, or a command has not been received yet.
Invalid	The input is invalid.
Halt	The input is valid and is telling the Tic to halt the motor.
Position	The input is valid and is telling the Tic to go to a target position, which you can get with TicBase::getInputAfterScaling().
Velocity	The input is valid and is telling the Tic to go to a target velocity, which you can get with TicBase::getInputAfterScaling().

Definition at line 250 of file Tic.h.

TicMiscFlags1

enum TicMiscFlags1

strong

This enum defines the bits in the Tic's Misc Flags 1 register. You should not need to use this directly. See TicBase::getEnergized() and TicBase::getPositionUncertain().

Definition at line 274 of file Tic.h.

TicMotorDriverError

enum TicMotorDriverError

strong

This enum defines possible motor driver errors for the Tic T249.

See TicBase::getLastMotorDriverError().

Definition at line 286 of file Tic.h.

TicOperationState

enum TicOperationState

strong

This enum defines the possible operation states for the Tic.

See TicBase::getOperationState().

Definition at line 95 of file Tic.h.

TicPinState

enum TicPinState

strong

This enum defines the Tic's pin states.

See TicBase::getPinState().

Definition at line 241 of file Tic.h.

TicPlanningMode

enum TicPlanningMode

strong

This enum defines the possible planning modes for the Tic's step generation code.

See TicBase::getPlanningMode().

Definition at line 109 of file Tic.h.

TicReset

enum TicReset

strong

This enum defines the possible causes of a full microcontroller reset for the Tic.

See TicBase::getDeviceReset().

Definition at line 120 of file Tic.h.

TicStepMode

enum TicStepMode

strong

This enum defines the possible step modes.

See TicBase::getStepMode() and TicBase::setStepMode().

Definition at line 162 of file Tic.h.

Variable Documentation

TicCurrentUnits

const uint8_t TicCurrentUnits = 32

This constant is used by the library to convert between milliamps and the Tic's native current unit, which is 32 mA. This is only valid for the Tic T825 and Tic T834.

Definition at line 30 of file Tic.h.

TicInputNull

const uint16_t TicInputNull = 0xFFFF

This is used to represent a null or missing value for some of the Tic's 16-bit input variables.

Definition at line 38 of file Tic.h.

TicT249CurrentUnits

const uint8_t TicT249CurrentUnits = 40

This constant is used by the library to convert between milliamps and the Tic T249 native current unit, which is 40 mA.

Definition at line 34 of file Tic.h.