Team Projet Robot Barman
Librairie pour contrôler un moteur connecté à une contrôleur SDC21XX
Dependencies: CANopen_Node Roboteq_SDC_serie
Revision 0:1c0bc44980e0, committed 2016-06-01
- Comitter:
- kkoichy
- Date:
- Wed Jun 01 15:03:34 2016 +0000
- Commit message:
- V1.0; Created class and basic methods to controll a motor connected to a SDC21XX motor driver
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CANopen_Node.lib Wed Jun 01 15:03:34 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/kkoichy/code/CANopen_Node/#f98581f4455d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Roboteq_SDC_serie.lib Wed Jun 01 15:03:34 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/kkoichy/code/Roboteq_SDC_serie/#95b0238d75a3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SDC21XX_Motor.cpp Wed Jun 01 15:03:34 2016 +0000
@@ -0,0 +1,61 @@
+#include "SDC21XX_Motor.h"
+
+
+namespace mbed {
+
+ SDC21XX_Motor::SDC21XX_Motor(uint8_t _node_id, CAN * _can, uint8_t _channel, uint32_t _reductor): channel(_channel), reductor(_reductor), RB(_node_id, _can)
+ {
+
+ }
+ void SDC21XX_Motor::GoAngle(int16_t _angle)
+ {
+ RB.SetPosition(_angle*1024/360*reductor, channel);
+ }
+
+ int16_t SDC21XX_Motor::GetAngle()
+ {
+ return RB.ReadAbsoluteEncoderCount(channel);
+ }
+
+ void SDC21XX_Motor::SetChannel(uint8_t _channel)
+ {
+ channel = _channel;
+ }
+
+ uint8_t SDC21XX_Motor::GetChannel(void)
+ {
+ return channel;
+ }
+
+ void SDC21XX_Motor::SetReductor(uint32_t _reductor)
+ {
+ reductor = _reductor;
+ }
+
+ uint32_t SDC21XX_Motor::GetReductor(void)
+ {
+ return reductor;
+ }
+
+ void SDC21XX_Motor::SetNodeID(uint8_t _node_id)
+ {
+ RB.SetNodeID(_node_id);
+ }
+
+ uint8_t SDC21XX_Motor::GetNodeID(void)
+ {
+ return RB.GetNodeID();
+ }
+
+ void SDC21XX_Motor::SetCan(CAN * _can)
+ {
+ RB.SetCan(_can);
+ }
+
+ CAN* SDC21XX_Motor::GetCan(void)
+ {
+ return RB.GetCan();
+ }
+
+
+}//end namespace
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SDC21XX_Motor.h Wed Jun 01 15:03:34 2016 +0000
@@ -0,0 +1,41 @@
+#ifndef SDC21XX_MOTOR_H
+#define SDC21XX_MOTOR_H
+
+#include "mbed.h"
+#include "Roboteq.h"
+
+namespace mbed {
+
+ class SDC21XX_Motor {
+
+ public :
+
+ SDC21XX_Motor(uint8_t _node_id, CAN * _can, uint8_t _channel, uint32_t _reductor);
+ void GoAngle(int16_t _angle);
+ int16_t GetAngle();
+ void SetChannel(uint8_t _channel);
+ uint8_t GetChannel(void);
+ void SetReductor(uint32_t _reductor);
+ uint32_t GetReductor(void);
+ void SetNodeID(uint8_t _node_id);
+ uint8_t GetNodeID(void);
+ void SetCan(CAN * _can);
+ CAN* GetCan(void);
+
+ private :
+
+ protected :
+
+ Roboteq RB;
+ uint8_t channel;
+ uint32_t reductor;
+
+
+ };//end class
+
+
+
+
+}//end namespace
+
+#endif
\ No newline at end of file