Vitec Group
As used for motor testing May / June 2016
Dependencies: iC_MU mbed-rtos mbed
Fork of
SweptSine
by 
Vitec Group
MyAxis.h@3:463edcfc09c5, 2016-06-08 (annotated)
- Committer:
- acodd
- Date:
- Wed Jun 08 13:56:25 2016 +0000
- Revision:
- 3:463edcfc09c5
As used for scoping motors May / June 2016
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| acodd | 3:463edcfc09c5 | 1 | //#ifndef MYAXIS_H |
| acodd | 3:463edcfc09c5 | 2 | #define MYAXIS_H |
| acodd | 3:463edcfc09c5 | 3 | |
| acodd | 3:463edcfc09c5 | 4 | // Axis Specific structure |
| acodd | 3:463edcfc09c5 | 5 | struct MyAxis { |
| acodd | 3:463edcfc09c5 | 6 | int Number; |
| acodd | 3:463edcfc09c5 | 7 | float jog; |
| acodd | 3:463edcfc09c5 | 8 | int sysjogdir; |
| acodd | 3:463edcfc09c5 | 9 | bool sinusoidrun; |
| acodd | 3:463edcfc09c5 | 10 | bool scoping; |
| acodd | 3:463edcfc09c5 | 11 | bool calcmyratio; |
| acodd | 3:463edcfc09c5 | 12 | float dynamicratio; |
| acodd | 3:463edcfc09c5 | 13 | bool setramp; |
| acodd | 3:463edcfc09c5 | 14 | bool setramp_x; |
| acodd | 3:463edcfc09c5 | 15 | bool moveme; |
| acodd | 3:463edcfc09c5 | 16 | double ramp; |
| acodd | 3:463edcfc09c5 | 17 | int run_count_jog; |
| acodd | 3:463edcfc09c5 | 18 | float run_count; |
| acodd | 3:463edcfc09c5 | 19 | float System_position; |
| acodd | 3:463edcfc09c5 | 20 | float System_position_prev; |
| acodd | 3:463edcfc09c5 | 21 | double Sys_follow_error; |
| acodd | 3:463edcfc09c5 | 22 | double SysDemandPos; |
| acodd | 3:463edcfc09c5 | 23 | double SysDemand; |
| acodd | 3:463edcfc09c5 | 24 | double SysProfilerVel; |
| acodd | 3:463edcfc09c5 | 25 | double SysDerivedVel; |
| acodd | 3:463edcfc09c5 | 26 | double SysActualVel; |
| acodd | 3:463edcfc09c5 | 27 | double SysDemand_Prev; |
| acodd | 3:463edcfc09c5 | 28 | float start_SysPos; |
| acodd | 3:463edcfc09c5 | 29 | double MotorDemand_DerivedVel; |
| acodd | 3:463edcfc09c5 | 30 | float ratio; |
| acodd | 3:463edcfc09c5 | 31 | float Motor_scale; //15728; //(based on 1800RPM, 2^19 encoder and 0.001s loop) |
| acodd | 3:463edcfc09c5 | 32 | double Motor_final; |
| acodd | 3:463edcfc09c5 | 33 | float c_moving; |
| acodd | 3:463edcfc09c5 | 34 | float c_stationary; |
| acodd | 3:463edcfc09c5 | 35 | float Jog_1; |
| acodd | 3:463edcfc09c5 | 36 | float Jog_2; |
| acodd | 3:463edcfc09c5 | 37 | float Kp; |
| acodd | 3:463edcfc09c5 | 38 | float Kp_Sys; |
| acodd | 3:463edcfc09c5 | 39 | float Kff; |
| acodd | 3:463edcfc09c5 | 40 | float Kff_Sys; |
| acodd | 3:463edcfc09c5 | 41 | double follow_error; |
| acodd | 3:463edcfc09c5 | 42 | float Feed_Forward; |
| acodd | 3:463edcfc09c5 | 43 | float Prev_Motor_final; |
| acodd | 3:463edcfc09c5 | 44 | int Motor_Inst_Pos; |
| acodd | 3:463edcfc09c5 | 45 | double MotorDemandPos; |
| acodd | 3:463edcfc09c5 | 46 | int MotorLast_Inst_Pos; |
| acodd | 3:463edcfc09c5 | 47 | float Motor_Vel; |
| acodd | 3:463edcfc09c5 | 48 | float Motor_position; |
| acodd | 3:463edcfc09c5 | 49 | float dojog; |
| acodd | 3:463edcfc09c5 | 50 | float sysdojog; |
| acodd | 3:463edcfc09c5 | 51 | int jogdir; |
| acodd | 3:463edcfc09c5 | 52 | float start_MotPos; |
| acodd | 3:463edcfc09c5 | 53 | }; |
| acodd | 3:463edcfc09c5 | 54 | extern MyAxis Pan; |
| acodd | 3:463edcfc09c5 | 55 | extern MyAxis Tilt; |