readAngularPosition

Read angular position of DC Motor in closed-loop control

Since R2020a

Syntax

position = readAngularPosition(pidObj)

[position,timestamp] = readAngularPosition(pidObj)

position = readAngularPosition(pidObj,'Reset',reset)

[position,timestamp] = readAngularPosition(pidObj,'Reset',reset)

Description

position = readAngularPosition(pidObj) returns the angular position of the DC motor shaft, in closed-loop control with the rotary encoder in radians.

[position,timestamp] = readAngularPosition(pidObj) returns the angular position of the DC motor shaft, in closed-loop control with the rotary encoder, in radians and the timestamp in the datetime format.

position = readAngularPosition(pidObj,'Reset',reset) returns the angular position of the DC motor shaft in radians and resets the encoder count to zero after reading its current value.

[position,timestamp] = readAngularPosition(pidObj,'Reset',reset) returns the angular position of the DC motor shaft in radians; timestamp in datetime format and resets the encoder count to zero after reading its current value.

Examples

Read Angular Position of DC Motor in Closed-Loop Control

Create a connection to the Nano Motor Carrier.

arduinoObj = arduino('/dev/ttyACM0','Nano33IoT','Libraries','MotorCarrier');
mcObj = motorCarrier(arduinoObj);

Create a connection to the PID Motor in position control mode.

pidObj = pidMotor(mcObj,1,'position');

Rotate the angular position with feedback from encoder 1 in closed-loop control.

position = readAngularPosition(pidObj);

Read Angular Position of DC Motor in Closed-Loop Control with Timestamp

Create a connection to the Nano Motor Carrier.

arduinoObj = arduino('/dev/ttyACM0','Nano33IoT','Libraries','MotorCarrier');
mcObj = motorCarrier(arduinoObj);

Create a connection to the PID Motor in position control mode.

pidObj = pidMotor(mcObj,1,'position');

Rotate the angular position with feedback from encoder 1 in closed-loop control.

[position,timestamp] = readAngularPosition(pidObj);

Reset Value in Encoder

Create a connection to the Nano Motor Carrier.

arduinoObj = arduino('/dev/ttyACM0','Nano33IoT','Libraries','MotorCarrier');
mcObj = motorCarrier(arduinoObj);

Create a connection to the PID Motor in position control mode.

pidObj = pidMotor(mcObj,1,'position');

Rotate the angular position with feedback from encoder 1 in closed-loop control.

position = readAngularPosition(pidObj,'Reset',true);

Reset Value in Encoder with Timestamp

Create a connection to the Nano Motor Carrier.

arduinoObj = arduino('/dev/ttyACM0','Nano33IoT','Libraries','MotorCarrier');
mcObj = motorCarrier(arduinoObj);

Create a connection to the PID Motor in position control mode.

pidObj = pidMotor(mcObj,1,'position');

Rotate the angular position with feedback from encoder 1 in closed-loop control along with the timestamp.

[position,timestamp] = readAngularPosition(pidObj,'Reset',true);

Input Arguments

pidObj — PID motor object

object

Connection to the PID motor on MKR Motor Carrier or Nano Motor Carrier in the position control mode, specified as an object.

reset — Reset the count value

false (default) | true

Setting reset to true resets the counter to zero for subsequent read. This is an optional argument.

Output Arguments

position — Angular position of the DC motor shaft

double

Angular position of the DC motor shaft obtained from the count of the encoder since the last reset.

timestamp — Time elapsed

datetime

Time at which MATLAB^® reads angular position data, specified as a datetime.

Version History

Introduced in R2020a