pitsco Tetrix Max - TETRIX MAX DC Motor Expansion Controller Arduino Library Functions Chart

TETRIX MAX DC Motor Expansion Controller Arduino Library Functions Chart
Please be sure to download and install the latest version of the TETRIX PRIZM Arduino Library for the most up-to-date
programming features and functionality.
All the DC motor control functions that implement PID control require encoder input data. For these functions to execute
accurately, the motor encoder must be a TETRIX type or one that matches the TETRIX motor encoder specification. Please
refer to the TETRIX TorqueNADO motor specifications table at Pitsco.com/TETRIX-MAX-TorqueNADO-Motor-with-
Encoder#resources for the motor and encoder technical parameters. The examples in the Coding Example column are
shown for the controller ID# set to 1. The ID# must match the controller or controllers’ ID# for proper communication.
Unless changed, the DC motor expansion controller’s default ID# is 1. The first parameter in the function is always the
controller ID#.
Description Function Coding Example (for controller ID = 1)
Read DC Controller Firmware
Version
Reads the version number of firmware.
readDCFirmware(ID#);
Data Type:
ID# = integer
Data Type Returned:
Unsigned integer
readDCFirmware(1);
Return the DC motor controller’s firmware
version.
Set/Change Expansion Controller ID
Number
Sets/changes the unique i2C ID
address of the expansion controller.
setExpID(ID#);
Data Type:
ID# = integer
setExpID(3);
Set the ID of the connected expansion
controller to “3.”
Important: Only the controller that is
being changed can be connected to the
i2C bus when calling this function.
Read the Expansion Controller ID
Number
Reads the i2C address/ID of the
expansion controller.
readExpID();
Data Type: None
Data Type Returned:
value = integer
readExpID();
Return the i2C address/ID of the
connected expansion controller.
Important: Only the controller that is
being read can be connected to the i2C
bus when calling this function.
Watchdog Timer Time-Out
Forces a watchdog timer reset of the
expansion controller’s processor.
WDT_STOP(ID#);
Data Type:
ID# = integer
WDT_STOP(1);
Command the expansion controller to do
a processor reset.
Send Controller Enable
Sends an enable byte to the expansion
controller to begin receiving motor
commands.
ControllerEnable(ID#);
Data Type:
ID# = integer
ControllerEnable(1);
Send an enable command byte.
Send Controller Reset
Sends a reset command byte causing
the controller’s firmware to a full reset.
All conditions are set to power-up
defaults after a reset occurs.
ControllerReset(ID#);
Data Type:
ID# = integer
ControllerReset(1);
Send a firmware reset command byte.