Ménagerie Technologique / SDC21XX_Motor

Librairie pour contrôler un moteur connecté à un contrôleur SDC21XX

Dependencies:   CANopen_Node Roboteq_SDC_serie

Dependents:   TCP_Server_Example

Fork of SDC21XX_Motor by Pierre David

SDC21XX_Motor.cpp@4:7aaa045734b7, 2016-07-21 (annotated)

Committer:
kkoichy
Date:
Thu Jul 21 13:11:07 2016 +0000
Revision:
4:7aaa045734b7
Parent:
2:30acd3c5d5da 
Commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kkoichy 0:1c0bc44980e0 1 #include "SDC21XX_Motor.h"
kkoichy 0:1c0bc44980e0 2
kkoichy 0:1c0bc44980e0 3
kkoichy 0:1c0bc44980e0 4 namespace mbed {
kkoichy 0:1c0bc44980e0 5
kkoichy 1:a677037eca0a 6 SDC21XX_Motor::SDC21XX_Motor(uint8_t _node_id, CAN * _can, uint8_t _channel, uint32_t _reductor, uint32_t _enc_resolution): RB(_node_id, _can), channel(_channel), reductor(_reductor), enc_resolution(_enc_resolution)
kkoichy 0:1c0bc44980e0 7 {
kkoichy 0:1c0bc44980e0 8
kkoichy 0:1c0bc44980e0 9 }
kkoichy 1:a677037eca0a 10
kkoichy 1:a677037eca0a 11 SDC21XX_Motor::SDC21XX_Motor(Roboteq *_RB, uint8_t _channel, uint32_t _reductor, uint32_t _enc_resolution): RB(_RB->GetNodeID(), _RB->GetCan()), channel(_channel), reductor(_reductor), enc_resolution(_enc_resolution)
kkoichy 1:a677037eca0a 12 {
kkoichy 1:a677037eca0a 13
kkoichy 1:a677037eca0a 14 }
kkoichy 1:a677037eca0a 15
kkoichy 0:1c0bc44980e0 16 void SDC21XX_Motor::GoAngle(int16_t _angle)
kkoichy 0:1c0bc44980e0 17 {
kkoichy 1:a677037eca0a 18 RB.SetPosition(_angle*enc_resolution*reductor/360, channel);
kkoichy 0:1c0bc44980e0 19 }
kkoichy 0:1c0bc44980e0 20
kkoichy 0:1c0bc44980e0 21 int16_t SDC21XX_Motor::GetAngle()
kkoichy 0:1c0bc44980e0 22 {
kkoichy 1:a677037eca0a 23 return RB.ReadAbsoluteEncoderCount(channel)*360/enc_resolution/reductor;
kkoichy 0:1c0bc44980e0 24 }
kkoichy 0:1c0bc44980e0 25
kkoichy 0:1c0bc44980e0 26 void SDC21XX_Motor::SetChannel(uint8_t _channel)
kkoichy 0:1c0bc44980e0 27 {
kkoichy 0:1c0bc44980e0 28 channel = _channel;
kkoichy 0:1c0bc44980e0 29 }
kkoichy 0:1c0bc44980e0 30
kkoichy 0:1c0bc44980e0 31 uint8_t SDC21XX_Motor::GetChannel(void)
kkoichy 0:1c0bc44980e0 32 {
kkoichy 0:1c0bc44980e0 33 return channel;
kkoichy 0:1c0bc44980e0 34 }
kkoichy 0:1c0bc44980e0 35
kkoichy 0:1c0bc44980e0 36 void SDC21XX_Motor::SetReductor(uint32_t _reductor)
kkoichy 0:1c0bc44980e0 37 {
kkoichy 0:1c0bc44980e0 38 reductor = _reductor;
kkoichy 0:1c0bc44980e0 39 }
kkoichy 0:1c0bc44980e0 40
kkoichy 0:1c0bc44980e0 41 uint32_t SDC21XX_Motor::GetReductor(void)
kkoichy 0:1c0bc44980e0 42 {
kkoichy 0:1c0bc44980e0 43 return reductor;
kkoichy 0:1c0bc44980e0 44 }
kkoichy 0:1c0bc44980e0 45
kkoichy 0:1c0bc44980e0 46 void SDC21XX_Motor::SetNodeID(uint8_t _node_id)
kkoichy 0:1c0bc44980e0 47 {
kkoichy 0:1c0bc44980e0 48 RB.SetNodeID(_node_id);
kkoichy 0:1c0bc44980e0 49 }
kkoichy 0:1c0bc44980e0 50
kkoichy 0:1c0bc44980e0 51 uint8_t SDC21XX_Motor::GetNodeID(void)
kkoichy 0:1c0bc44980e0 52 {
kkoichy 0:1c0bc44980e0 53 return RB.GetNodeID();
kkoichy 0:1c0bc44980e0 54 }
kkoichy 0:1c0bc44980e0 55
kkoichy 0:1c0bc44980e0 56 void SDC21XX_Motor::SetCan(CAN * _can)
kkoichy 0:1c0bc44980e0 57 {
kkoichy 0:1c0bc44980e0 58 RB.SetCan(_can);
kkoichy 0:1c0bc44980e0 59 }
kkoichy 0:1c0bc44980e0 60
kkoichy 0:1c0bc44980e0 61 CAN* SDC21XX_Motor::GetCan(void)
kkoichy 0:1c0bc44980e0 62 {
kkoichy 0:1c0bc44980e0 63 return RB.GetCan();
kkoichy 0:1c0bc44980e0 64 }
kkoichy 2:30acd3c5d5da 65
kkoichy 2:30acd3c5d5da 66 void SDC21XX_Motor::SetVelocity(uint16_t _vel)
kkoichy 2:30acd3c5d5da 67 {
kkoichy 2:30acd3c5d5da 68 RB.SetVelocity(_vel, channel);
kkoichy 2:30acd3c5d5da 69 }
kkoichy 4:7aaa045734b7 70
kkoichy 2:30acd3c5d5da 71 void SDC21XX_Motor::SetAcceleration(long _accel)
kkoichy 2:30acd3c5d5da 72 {
kkoichy 2:30acd3c5d5da 73 RB.SetAcceleration(_accel, channel);
kkoichy 2:30acd3c5d5da 74 }
kkoichy 4:7aaa045734b7 75
kkoichy 2:30acd3c5d5da 76 void SDC21XX_Motor::SetDeceleration(long _decel)
kkoichy 2:30acd3c5d5da 77 {
kkoichy 2:30acd3c5d5da 78 RB.SetDeceleration(_decel, channel);
kkoichy 2:30acd3c5d5da 79 }
kkoichy 4:7aaa045734b7 80
kkoichy 2:30acd3c5d5da 81 void SDC21XX_Motor::Setparameters(uint16_t _vel, long _accel, long _decel)
kkoichy 2:30acd3c5d5da 82 {
kkoichy 2:30acd3c5d5da 83 RB.SetParameters(_vel, _accel, _decel, channel);
kkoichy 2:30acd3c5d5da 84 }
kkoichy 2:30acd3c5d5da 85
kkoichy 4:7aaa045734b7 86 void SDC21XX_Motor::SetRB(Roboteq* _RB)
kkoichy 4:7aaa045734b7 87 {
kkoichy 4:7aaa045734b7 88 RB = *_RB;
kkoichy 4:7aaa045734b7 89 }
kkoichy 4:7aaa045734b7 90 Roboteq* SDC21XX_Motor::GetRB(void)
kkoichy 4:7aaa045734b7 91 {
kkoichy 4:7aaa045734b7 92 return &RB;
kkoichy 4:7aaa045734b7 93 }
kkoichy 4:7aaa045734b7 94
kkoichy 0:1c0bc44980e0 95
kkoichy 0:1c0bc44980e0 96
kkoichy 0:1c0bc44980e0 97 }//end namespace