Diff: Daan_Test1_maxon.h

Revision:

2:1117ce9d1867

Parent:

1:822c609fb2ce

--- a/Daan_Test1_maxon.h	Fri Apr 05 12:12:24 2019 +0000
+++ b/Daan_Test1_maxon.h	Wed Apr 10 09:33:36 2019 +0000
@@ -2,35 +2,58 @@
 #ifndef EPOSS
 #define EPOSS
 
-// EPOS commands that you need to home, you can find those in chapter 8 from the application node. 
+/* -----------------------------------------------------------------------------
+EPOS commands that you need to home, you can find those in chapter 8.3 from the 
+application node. 
+----------------------------------------------------------------------------- */
 const char Shutdown_Data[8] = {0x2B,0x40,0x60,0x00,0x06,0x00,0x00,0x00};        //voorkomen dat je niet nog in een andere mode zit
     
 const char Switch_On_And_Enable_Data[8] = {0x2B,0x40,0x60,0x00,0x0F,0x00,0x00,0x00}; //enable de motorcontroller (groene ledje constant aan)
 
 const char Homing_Mode_Data[8] = {0x2F,0x60,0x60,0x00,0x06,0x00,0x00,0x00};     //aan de 0x6060-00 geef je aan dat je nu gaat homen wat de waarde 06 heeft in de data bytes
     
-const char Homing_Method_Data_positive[8] = {0x2F,0x98,0x60,0x00,0xFD,0x00,0x00,0x00};  //bij de index 0x6098-00 geef je aan welke homing method je gaat gebruiken: 0xFD = -3 = current treshold positive speed
+const char Homing_Method_Data_Positive[8] = {0x2F,0x98,0x60,0x00,0xFD,0x00,0x00,0x00};  //bij de index 0x6098-00 geef je aan welke homing method je gaat gebruiken: 0xFD = -3 = current treshold positive speed
 
-const char Homing_Method_Data_negative[8] = {0x2F,0x98,0x60,0x00,0xFC,0x00,0x00,0x00};  //bij de index 0x6098-00 geef je aan welke homing method je gaat gebruiken: 0xFC = -4 = current treshold negative speed
+const char Homing_Method_Data_Negative[8] = {0x2F,0x98,0x60,0x00,0xFC,0x00,0x00,0x00};  //bij de index 0x6098-00 geef je aan welke homing method je gaat gebruiken: 0xFC = -4 = current treshold negative speed
     
 const char Start_Homing_Data[8] = {0x2B,0x40,0x60,0x00,0x1F,0x00,0x00,0x00}; //om te beginnen met homen geef je het controlword de waarde 0x001F om het homen te starten 
 
-const char StatusWord_Data[4] = {0x40,0x41,0x60,0x00};  //0x40, want ccs is 2: je upload iets van de controller om te kijken of het gelukt is. 
-    
-/** Sends a CAN Message to the controller
+const char Status_Word_Data[4] = {0x40,0x41,0x60,0x00};  //0x40, want ccs is 2: je upload iets van de controller om te kijken of het gelukt is. 
+
+const char Clear_Fault_Data[8] = {0x2B,0x40,0x60,0x00,0x80,0x00,0x00,0x00}; //Clear fault: 0x0080 versturen naar 0x6040-00    
+
+/* -----------------------------------------------------------------------------
+Additional EPOS commands that you need for going to a position, you can find 
+those in chapter 8.7 from the application node. 
+----------------------------------------------------------------------------- */
+const char Position_Mode_Data[8] = {0x2F,0x60,0x60,0x00,0xFF,0x00,0x00,0x00};
+
+/* -----------------------------------------------------------------------------
+Sends a CAN Message to the controller
 Returns 1 for succes. May be slow. a faster send message is build into Goto_Pos
 @param COB_ID
 @param Message length
 @param Data string
-*/
+----------------------------------------------------------------------------- */
 CANMessage create_CAN_msg(int COB_ID, int LENGTH, char * DATA);
     
+//A struct in which msg_1 is saved
+//struct EPOS_MESSAGES {
+//    CANMessage msg_1;
+//};
+
+//CANMessage Latest_EPOS_msg(int NODE_ID);   
+ 
 // The EPOS class
 class EPOS{
     
     public:
     
     int NODE_ID;   // the CAN adress of this controller
+    
+    EPOS(int node_id){
+        NODE_ID=node_id;
+        };
 
     /** puts the EPOS in shutdown state */
     CANMessage Shutdown();
@@ -42,22 +65,31 @@
     CANMessage StatusWord();
     
     /** puts the EPOS in homing mode */
-    CANMessage Homing_Mode();
+    CANMessage HomingMode();
     
     /** sets the homing method to current mode positive speed */
-    CANMessage Homing_Method_positive();
+    CANMessage HomingMethodPositive();
     
     /** sets the homing method to current mode positive speed */
-    CANMessage Homing_Method_negative();
+    CANMessage HomingMethodNegative();
     
     /** puts the EPOS in start homing state */
     CANMessage StartHoming();
+     
+    /** Resets the fault condition on the EPOS */
+    CANMessage ClearFault();
     
-    /** Sets the EPOS home method to current pos */
-    CANMessage Homing_Method_current_pos();
+    /** Function that defines a message with the right amount of quartercircles */
+    CANMessage GoToPosition(int quartercircles);
+    
+    /** Function that defines a message with the right amount of quartercircles */
+    CANMessage PositionMode();
 
     /** Homes the EPOS with Current mode */
     void Homing();
+    
+    /** With this function the axis moves to the new absolute position */
+    void StartPositionMode();
 };
 
 #endif
\ No newline at end of file