System Control

System Control allows the user to perform low level tasks on the motor controller’s microcontroller and gather basic information. The motor’s uptime can be read and set, allowing for flexible timing and synchronizing. System Control also has a Module ID parameter, which allows motors to be bussed on a single serial line yet addressed uniquely. System Control is unique since its ID is always 0 even when the Module ID has been changed.

Arduino

To use System Control in Arduino, ensure iq_module_communication.hpp is included. This allows the creation of a SystemControlClient 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 SystemControlClient is:

#include <iq_module_communication.hpp>

IqSerial ser(Serial2);
SystemControlClient sys(0);

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

void loop() {
    float sys_time = 0.0f;
    if(ser.get(sys.time_,sys_time))
        Serial.println(sys_time);
}

C++

To use System Control in C++, include system control client.hpp. This allows the creation of a SystemControlClient 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 SystemControlClient 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 "system_control_client.hpp"

float time;

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

    // Make a System Control object with obj_id 0
    // System Control objects are always obj_id 0
    SystemControlClient system_control(0);

    // Use the System Control object
    system_control.time_.get(com);

    // Insert code for interfacing with hardware here
    // time = system_control.time_.get_reply();
}

Matlab

To use System Control in Matlab, all Vertiq communication code must be included in your path. This allows the creation of a SystemControlClient 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 SystemControlClient is:

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

% Make a System Control object with obj_id 0
SystemControl = SystemControlClient(’com’,com);

% Use the System Control object
time = SystemControl.get(’time’);

Python

To use the System Control Client in Python, import iqmotion and create a module that has the System Control 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 System Control Client is:

import iqmotion as iq

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

FW = |variable_name|.get("system_control", "firmware_version")  # Firmware Version Number
print(f"Firmware: {FW}")

Message Table

Type ID 5 | System Control

System Control

Sub ID	Short Name	Access	Data Type	Unit	Note
0	reboot_program	set			Reboots the motor controller with saved values
1	reboot_boot_loader	set			Reboots into the boot loader
2	dev_id	get	uint16
3	rev_id	get	uint16
4	uid1	get	uint32
5	uid2	get	uint32
6	uid3	get	uint32
7	mem_size	get	uint16	\(\text{Kb}\)
8	build_year	get	uint16	\(\text{year}\)
9	build_month	get	uint8	\(\text{mon}\)
10	build_day	get	uint8	\(\text{day}\)
11	build_hour	get	uint8	\(\text{hour}\)
12	build_minute	get	uint8	\(\text{min}\)
13	build_second	get	uint8	\(s\)
14	module_id	get, set, save	uint8	\(\text{ID}\)	The ID used for all obj_id on this module
15	time	get, set	float	\(s\)	Internal clock time. If unchanged through software this is uptime
16	firmware_version	get	uint32	\(\text{ver}\)
17	hardware_version	get, set, save	uint32	\(\text{ver}\)
18	electronics_version	get, set, save	uint32	\(\text{ver}\)
19	firmware_valid	get	uint8	\(\text{bool}\)