TETRIX MAX DC Motor
Expansion Controller Block for EV3
This
block interfaces TETRIX MAX DC motors and encoders with an EV3 sensor port.
EV3 Connection:
To ensure proper port identification, connect and power the
TETRIX controllers before power up of the EV3
brick. The EV3 will display an error flag over the port parameter of the block
if the devices are not powered in this sequence. If communication with the
expansion controller is not working, unplug and plug the sensor port cable back
in to reset communications. Refer to the end of this document for connection
and controller mounting diagrams.
For best functionality of the TETRIX DC motor controller expansion block, DO
NOT use multi-thread programming methods.
Block Anatomy:
1.
Port
Selector
2.
Mode
Selector
3.
Input
4.
Choose:
Next Action Parameter
5.
Output
Use the Port Selector on the top of the block to make sure that the sensor port
number (1, 2, 3, or 4) matches the port on the EV3 Brick that the motor
controller is connected to.
Use the Mode Selector to select the mode for the block. The inputs, outputs and
next action parameters available will change depending on the mode.
Returns the voltage of the power supply connected to the battery input
terminal. For example, a value of 1218 indicates an input voltage of 12.18
volts.
Continuously runs the specified motors at a user-defined power. If both motors
are chosen, a different power can be set for each motor.
Allows the user to choose how to stop the specified motor(s) using the next
action parameter.
Reset Encoder(s)
Resets the specified motor encoder(s) to zero (0).
Continuously runs the specified motor(s) at a user-defined power. The speed of
the motor will remain the same regardless of the load. If both motors are
chosen, a different power can be set for each motor. This mode requires encoder
input to the controller.
Runs the specified motor(s) at a user-defined power and number of degrees. This
mode also allows users to choose how to stop by using the next action
parameter. If both motors are chosen, a different power can be set for each
motor. The direction of the motor can be determined by using +/- degrees.
Runs the specified motor(s), at a user-defined power and number of rotations.
This mode also allows users to choose how to stop by using the next action
parameter. If both motors are chosen, a different power can be set for each
motor. The direction of the motor can be determined by using +/- rotations.
Runs the specified motor(s), at a user-defined power to a user-defined encoder
value. This mode also allows users to choose how to stop by using the next
action parameter. If both motors are chosen, a different power can be set for
each motor. The direction of the motor is determined by the relation of the
target encoder position to the current encoder position and not by +/- motor
power. When using a TETRIX DC motor equipped with an encoder, one motor shaft
rotation is equal to 1440 encoder counts.
The
inputs available for the TETRIX DC Motor Controller block will depend on the
mode selected. You can enter the input values directly into the block.
Alternatively, the input values can be supplied by Data Wires from the outputs
of other Programming Blocks.
|
Input |
Type |
Allowed Values |
Description |
|
Motor
|
Numeric
|
1-3
|
1:
Motor 1 |
|
Motor
1 Power |
Numeric
|
-100
to 100 |
Determines
the power (speed) of motor 1. A negative value will reverse motor 1.
Parameter input is not valid if motor 2 is selected. |
|
Motor
2 Power |
Numeric
|
-100
to 100 |
Determines
the power (speed) of motor 2. A negative value will reverse motor 2.
Parameter input is not valid if motor 1 is selected. |
|
Turn
for Degrees |
Numeric
|
Any
integer number |
Determines
the number of degrees to turn the motor(s). 360 degrees equals one full
rotation. A negative value will reverse the motor direction. |
|
Turn
for Rotations |
Numeric
|
Any
integer number |
Determines
the number of rotations to turn the motor(s). A negative value will reverse
the motor direction. |
|
Turn
to Encoder Value |
Numeric
|
Any
integer number |
Turns
the motor(s) to a specific encoder value. Motor direction is determined by
the relation of the target encoder position to the current encoder position.
|
|
Next
Action |
Logic
|
True/False
|
True:
Stop (brakes the motor(s) when action is completed). False: Float (the
motor(s) coast upon completion). |
|
Invert
Motor |
Numeric
|
0-3
|
Inverts
the rotational direction of the specified motor(s). |
|
Encoder
|
Numeric
|
1-3
|
Reset
the selected encoder. |
The
outputs available will depend on the mode selected. To use an output, use a
data wire to connect it to another programming block.
|
Output |
Type |
Description |
|
Encoder
M1 |
Numeric
|
Encoder
value of motor 1. |
|
Encoder
M2 |
Numeric
|
Encoder
value of motor 2. |
|
Voltage
|
Numeric
|
Millivolt
reading of the input power supply; for example, a numeric value of 1218
equals 12.18 volts. |
Connections and Mounting:
Daisy-chaining multiple
controllers:
DC
and Servo motor expansion controllers can be connected to a single EV3 sensor
port in a daisy chain configuration as shown below. Additional controllers may
be added to other sensor ports in the same arrangement.
