Roomba PWM LSD
Controls the three low side drivers with variable power.
Library
QUARC Targets/Devices/Third-Party/iRobot/Roomba/Interfacing
Description
The Roomba PWM LSD block controls the three low side drivers on Roomba with variable power. It takes three inputs. Each input specifies the PWM duty cycle for the low side driver (maximum 128). For example, to control a driver with 25% of battery voltage, a duty cycle of 128 * 25% = 32 is used.
This command is available in Safe, or Full operating mode of Roomba (see Roomba Modes block). Execution of this command does not change current Roomba operating mode.
Important Notes
Use System Timebase
block in Normal simulation.
Input Ports
rmb
A reference to the Roomba stream (see Roomba Initialize block).
lsd1
PWM duty cycle (0 to 128) for low side driver 1 (pin 23).
lsd2
PWM duty cycle (0 to 128) for low side driver 2 (pin 22).
lsd3
PWM duty cycle (0 to 128) for low side driver 3 (pin 24).
Output Ports
rmb
A reference to the Roomba stream, which is the same as input Roomba stream reference. It helps creating a daisy chain of Roomba blocks.
err
This signal returns a negative value in case of memory allocation error or data communication error through Roomba serial port.
Parameters and Dialog Box
Sample time
The sample time of the block. A sample time of 0 indicates that the block will be treated as a continuous time block. A positive sample time indicates that the block is a discrete time block with the given sample time. A sample time of -1 indicates that the block inherits its sample time.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
Last fully supported in QUARC 2018. |
|
|
Rapid Simulation (RSIM) Target |
Yes |
Yes |
|
|
S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
Use System Timebase. |
See Also
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