Device: motorctl0 (Motor Control Card)

Physical Concept

Form Factor: Industrial controller module mounted in instrumentation backplane

Core Components:

  • Microcontroller with PWM generation
  • Dual H-bridge motor drivers for bidirectional control (two DC motors)
  • Current sensing for speed estimation
  • Communication interface for device protocol
  • No position feedback or persistent storage

Operational Pattern

Primary Function: Variable speed control for two DC motors

Typical Control Flow:

  1. Host polls speed signals to monitor motor RPM
  2. Host calls set_motor_duty() to control motor speed via PWM
  3. Motor speed ramps toward target based on duty cycle
  4. Controller estimates speed from back-EMF or current draw
  5. No position tracking - open-loop speed control only

Motion Execution: Simple duty cycle control, motor responds with first-order lag

Protocol Interface

Signals (read by host):

  • motor1_speed, motor2_speed (double) - Estimated speed in RPM
  • motor1_duty, motor2_duty (double) - Current PWM duty cycle (0-1)

Functions (called by host):

  • set_motor_duty(motor_index, duty) - Set PWM duty for motor 1 or 2

Preconditions: None (always callable, no state machine)

Simulation Purpose

Validates simple actuator control, dual-channel independence, and first-order dynamics.

Represents: Open-loop motor speed control (simplest motion pattern)