Contents

Overview

The Acroname aMoto tool is an application for interfacing with BrainStem Moto modules.  Use the aMoto Application to check analog and digital inputs, configure motion channel modes and parameters, and diagnose problems as you develop your applications. 

aMoto running in X11 on Linux

Related Devices

The aMoto application is designed to be interfaced with a BrainStem Moto module.  BrainStem Moto modules are used stand-alone, inside Garcia mobile robots and in simulations. 

Hardware that can be interfaced with the aMoto application.

Software Details

The aMoto has divided the functionality of the motion control channels, analog inputs and digital IO into separate panes.  Depending on what operational mode each motion channel is set to, controls may or may not be enabled. 

Motion control control pane running on Mac OS X.

The heartbeat indicator will flash in synchronization with a connected BrainStem Moto module. 

Mode selection drop down menu selects the different operation mode.  Available operational modes are described in the cmdMO_CFG section of the BrainStem Reference manual. 

Closed loop PID control constants can be adjusted by entering in decimal numbers for the P, I and D terms. 

Input offset can shift the control input.  Adjusting this value is particularly useful for use in back-EMF feedback mode (Analog Velocity). 

PWM Rail input field limits the range that can be useful to limit the maximum control output to motor output. 

Period is the input time between PID computations or stepper motor steps. 

Latency between PID computations when the PWM output is turned off in closed loop systems.  This value must need to be less than the Period value. 

PWM Frequency is the frequency for the PWM output.  This value is applied to both motion channels, independent of what channel pane this value is adjusted on.  Detailed information on this parameter is covered in the cmdMO_CFG section of the BrainStem Reference manual. 

Invert input and invert output flip the control input signal and PWM output signal respectively.  Single encoder check box only captures a one encoder channel.  Unchecking the single encoder check box changes the input to quadrature capture. 

Auto brake checkbox enables a brake output that enables the ability for Back-EMF feedback control. 

RC Servo control adjusts the PWM output signal to match the requirements necessary for driving RC servo motors.  Additional information is provided in the article comparing servo motors . 

The "Get" settings grabs the current settings on the Moto module.  The "Set" writes any adjusted control setting parameters.  The "Save" button writes the motion control settings to the module in a non-volatile storage. 

Setpoint throttle adjusts the motion setpoint for the module to get to.  Detailed information for different modes is described in the cmdMO_SET section of the BrainStem Reference manual. 

The "Stop" button sends a setpoint command of 0 to the Moto module. 

Desired position input is the number of ticks for the motion mode to advance to.  Detailed information for different modes is described in the cmdMO_SET section of the BrainStem Reference manual.  Once a desired position is entered, clicking the "Go" button will make the module try to get to the specified position. 

The current Setpoint, PWM, Encoder count and analog input current values are displayed in real time. 

Analog window pane running on Mac OS X.

The analog pane provides feedback for analog input measurements.  Each channel shows the current raw value reading with a visual indicator that changes relative to the measured reading. 

Digital pane running on Mac OS X.

The digital control pane provides access to all the digital pins available on the Moto module.  Depending on what motion mode the Moto is in, digital pin controls may not be available for general usage. 

The digital mode drop down menu changes the digital pin operational mode.  Detailed information can be found in the BrainStem Reference manual under the cmdDIG_CFG . 

Digital state control changes the level on the digital pin.  When the configuration mode is set to an input, this value will be grayed out, but high and low levels will be shown.  Detailed information can be found in the BrainStem Reference manual under the cmdDIG_IO . 

Additional Information

The aMoto application is designed as a stripped down and interactive interface to the BrainStem Moto modules.  Supplemental information about working with the aMoto application can be found in the following resources:

• BrainStem Reference Manual - detailed information useful for working with the BrainStem modules. 
• Getting Started Guide - A step-by-step walkthrough intended to guide one through using the aMoto application. 

Revision History:

• 2009-11-13: Added related devices.
• 2009-11-12: Initial post.