MPI 04.00 Reference >> mpiMotor
MPIMotorFeedbackStatusMask
Definition
typedef enum MPIMotorFeedbackStatusMask {
MPIMotorFeedbackStatusMaskBROKEN_WIRE = (1<< MPIMotorFeedbackStatusBitBROKEN_WIRE),
MPIMotorFeedbackStatusMaskILLEGAL_STATE = (1<< MPIMotorFeedbackStatusBitILLEGAL_STATE),
MPIMotorFeedbackStatusMaskBROKEN_WIRE_SECONDARY = (1<< MPIMotorFeedbackStatusBitBROKEN_WIRE_SECONDARY),
MPIMotorFeedbackStatusMaskILLEGAL_STATE_SECONDARY = (1<< MPIMotorFeedbackStatusBitILLEGAL_STATE_SECONDARY),
} MPIMotorFeedbackStatusMask;
Required Header: motor.h
Change History: Added in 04.00.
Description
MPIMotorFeedbackStatusMask contains the fault masks for the feedback. These bits are used to decode the feedback status from the motor status. There is an equivalent enumeration for the feedback status bits. Be sure to use the mask when decoding the feedbackMask in MPIMotorStatus.
Note: These masks are only applicable for MPIMotorFeedbackTypeQUAD_AB feedback types.
| MPIMotorFeedbackStatusMaskBROKEN_WIRE | Status mask for broken A or B encoder wire. Requires a differential pair of A and B wires to be detectable. |
|---|---|
| MPIMotorFeedbackStatusMaskILLEGAL_STATE | Status mask for a simultaneous state change on both the A and B encoder channel. Indicates a bad channel or faulty signals. |
| MPIMotorFeedbackStatusMaskBROKEN_WIRE_SECONDARY | Status mask for broken A or B encoder wire on the secondary encoder feedback. |
| MPIMotorFeedbackStatusMaskILLEGAL_STATE_SECONDARY | Status mask for an illegal state on the secondary encoder feedback. |