ESC Propeller Input Parser¶

The ESC Propeller Input Parser is an interface between the Propeller Motor Controller and the PWM based inputs like 1-2ms, OneShot, MultiShot, and DShot. This parser allows the user to control how ratiomatic values from the PWM input are translated. Inputs can be mapped to PWM control, voltage control, velocity control, and thrust control. Values can be interpreted as signed/unsigned and clockwise/counter clockwise.

Arduino¶

To use ESC Propeller Input Parser in Arduino, ensure iq_module_communication.hpp is included. This allows the creation of a EscPropellerInputParserClient object. See the Message Table below for available messages. All message objects use the Short Name with a trailing underscore. All messages use the standard Get/Set/Save functions.

A minimal working example for the EscPropellerInputParserClient is:

#include <iq_module_communication.hpp>

IqSerial ser(Serial2);
EscPropellerInputParserClient esc(0);

void setup() {
    ser.begin();
    // Initialize Serial (for displaying information on the terminal)
    Serial.begin(115200);
}

void loop() {
    float vel_max = 0;
    ser.get(esc.velocity_max_,vel_max);
    Serial.println(vel_max);
}

C++¶

To use ESC Propeller Input Parser in C++, include esc propeller input parser client.hpp. This allows the creation of a EscPropellerInputParserClient object. See the Message Table below for available messages. All message objects use the Short Name with a trailing underscore. All messages use the standard Get/Set/Save functions.

A minimal working example for the EscPropellerInputParserClient is:

Note

Interfacing with Serial looks different on different machines. Therefore, this example does not include code for interfacing with the hardware.

For more, see Full C++ Code Example (w/ LibSerial)

#include "generic_interface.hpp"
#include "esc_propeller_input_parser_client.hpp"

float velocity_max = 1000.0f; // rad/s

void main(){
    // Make a communication interface object
    GenericInterface com;

    // Make a ESC Propeller Input Parser object with obj_id 0
    EscPropellerInputParserClient esc(0);

    // Use the ESC Propeller Input Parser object
    esc.velocity_max_.set(com, velocity_max);

    // Insert code for interfacing with hardware here

}

Matlab¶

To use ESC Propeller Input Parser in Matlab, all Vertiq communication code must be included in your path. This allows the creation of a EscPropellerInputParserClient object. See the Message Table below for available messages. All message strings use the Short Names. All messages use the standard Get/Set/Save functions.

A minimal working example for the EscPropellerInputParserClient is:

% Make a communication interface object
com = MessageInterface(’COM18’,115200);

% Make a EscPropellerInputParserClient object with obj_id 0
EscPropellerInputParser = EscPropellerInputParserClient(’com’,com);

% Use the EscPropellerInputParserClient object
EscPropellerInputParser.set(’velocity_max’,1000);

Python¶

To use the ESC Propeller Input Parser Client in Python, import iqmotion and create a module that has the ESC Propeller Input Parser Client within its firmware. See the Message Table below for available messages. All message strings use the Short Names. All messages use the standard Get/Set/Save functions.

A minimal working example for the ESC Propeller Input Parser Client is:

import iqmotion as iq

com = iq.SerialCommunicator("/dev/ttyUSB0")
|variable_name| = iq.|module_name|(com, 0)

|variable_name|.set("esc_propeller_input_parser", "velocity_max", 1000) # Set max Velocity to 1000rad/s

Message Table¶

Type ID 60 | ESC Propeller Input Parser

ESC Propeller Input Parser¶
Sub ID	Short Name	Access	Data Type	Unit	Note
0	mode	get, set, save	uint8	\(\text{Enum}\)	0 = PWM, 1 = Voltage, 2 = Velocity, 3 = Thrust
1	raw_value	get, set	float	\(\text{PU}\)	Input value [0, 1]
3	sign	get, set, save	uint8	\(\text{Enum}\)	0 = unconfigured, 1 = signed positive, 2 = signed negative, 3 = unsigned positive, 4 = unsigned negative
4	volts_max	get, set, save	float	\(V\)	Maximum voltage to apply to motor, raw_value scaled to [-volts_max, volts_max] or [0, volts_max]
5	velocity_max	get, set, save	float	\(\frac{\text{rad}}{s}\)	Maximum angular velocity command, raw_value scaled to [-velocity_max, velocity_max] or [0, velocity_max]
6	thrust_max	get, set, save	float	\(N\)	Maximum thrust command (requires kt values), raw_value scaled to [-thrust_max, thrust_max] or [0, thrust_max]
7	safe_factor	get, set, save	float	\(\text{PU}\)	Setting the Save Factor between 0.0 and 1.0 will scale down the values coming from the FC. Default value is 1.0
8	flip_negative	get, set, save	uint8	\(\text{Bool}\)	Allows the FC and ESC to agree on the meaning of signals coming out of ESC
9	zero_spin_throttle	get, set, save	float	\(\text{PU}\)	The throttle percentage defines what throttle command percentage the zero spin throttle regions begin.
10	zero_spin_tolerance	get, set, save	float	\(\text{PU}\)	Defines how far below the Zero Spin Throttle Percentage the zero spin throttle region will extend for positive throttle commands.