tmc9660::TMC9660< CommType >::Brake Struct Reference

Subsystem controlling the brake chopper and mechanical brake features. More...

#include <tmc9660.hpp>

Collaboration diagram for tmc9660::TMC9660< CommType >::Brake:

Classes
struct	BrakeConfig
	Configuration structure for brake auto-configuration. More...

Public Member Functions
bool	enableChopper (bool enable) noexcept
	Enable or disable the brake chopper functionality.
bool	setVoltageLimit (float voltage) noexcept
	Set the overvoltage threshold for the brake chopper.
bool	setHysteresis (float voltage) noexcept
	Set the hysteresis for the brake chopper threshold.
bool	release () noexcept
	Trigger a release of the mechanical brake.
bool	engage () noexcept
	Engage (lock) the mechanical brake.
bool	setReleasingDutyCycle (uint8_t percent) noexcept
	Set the PWM duty cycle for releasing the brake.
bool	setHoldingDutyCycle (uint8_t percent) noexcept
	Set the PWM duty cycle for holding the brake released.
bool	setReleasingDuration (uint16_t milliseconds) noexcept
	Set the duration of the brake release initial phase.
bool	invertOutput (bool invert) noexcept
	Invert or normalize the brake output signal polarity.
bool	configureAuto (const BrakeConfig &config) noexcept
	Auto-configure brake parameters.

Private Member Functions
	Brake (TMC9660 &parent) noexcept

Private Attributes
TMC9660 &	driver

Friends
class	TMC9660

Detailed Description

template<typename CommType>
struct tmc9660::TMC9660< CommType >::Brake

Subsystem controlling the brake chopper and mechanical brake features.

Constructor & Destructor Documentation

Brake()

template<typename CommType >

tmc9660::TMC9660< CommType >::Brake::Brake ( TMC9660 & parent )

inlineexplicitprivatenoexcept

Member Function Documentation

configureAuto()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Brake::configureAuto ( const BrakeConfig & config )

noexcept

Auto-configure brake parameters.

Configures brake chopper and mechanical brake parameters based on high-level requirements.

Parameters

config

Brake configuration (see BrakeConfig)

Returns

true if all configurations succeeded, false otherwise

enableChopper()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Brake::enableChopper ( bool enable )

noexcept

Enable or disable the brake chopper functionality.

Parameters

enable

True to enable the brake chopper, false to disable it.

Returns

True if the command was sent and acknowledged.

engage()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Brake::engage ( )

noexcept

Engage (lock) the mechanical brake.

Returns

True if the command was sent successfully.

invertOutput()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Brake::invertOutput ( bool invert )

noexcept

Invert or normalize the brake output signal polarity.

Parameters

invert

True to invert the brake output, false for normal.

Returns

True if the parameter was written successfully.

release()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Brake::release ( )

noexcept

Trigger a release of the mechanical brake.

Returns

True if the command was sent successfully.

setHoldingDutyCycle()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Brake::setHoldingDutyCycle ( uint8_t percent )

noexcept

Set the PWM duty cycle for holding the brake released.

Parameters

percent

Duty cycle (0 to 99%).

Returns

True if the parameter was written successfully.

setHysteresis()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Brake::setHysteresis ( float voltage )

noexcept

Set the hysteresis for the brake chopper threshold.

Parameters

voltage

Hysteresis in volts (0.0 to 5.0 V).

Returns

True if the parameter was written successfully.

setReleasingDuration()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Brake::setReleasingDuration ( uint16_t milliseconds )

noexcept

Set the duration of the brake release initial phase.

Parameters

milliseconds

Duration in ms (0 to 65535).

Returns

True if the parameter was written successfully.

setReleasingDutyCycle()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Brake::setReleasingDutyCycle ( uint8_t percent )

noexcept

Set the PWM duty cycle for releasing the brake.

Parameters

percent

Duty cycle (0 to 99%).

Returns

True if the parameter was written successfully.

setVoltageLimit()

template<typename CommType >

bool tmc9660::TMC9660< CommType >::Brake::setVoltageLimit ( float voltage )

noexcept

Set the overvoltage threshold for the brake chopper.

Parameters

voltage

Threshold voltage in volts (5.0 to 100.0 V).

Returns

True if the parameter was written successfully.

Friends And Related Symbol Documentation

TMC9660

template<typename CommType >

friend class TMC9660

friend

Member Data Documentation

driver

template<typename CommType >

TMC9660& tmc9660::TMC9660< CommType >::Brake::driver

private

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The documentation for this struct was generated from the following file:

• tmc9660.hpp