motor control code by JYB
Dependencies: mbed-dev-f303 FastPWM3
PositionSensor/PositionSensor.h@48:e9f6441bacf5, 2020-12-15 (annotated)
- Committer:
- MrStark
- Date:
- Tue Dec 15 08:46:20 2020 +0000
- Revision:
- 48:e9f6441bacf5
- Parent:
- 47:f4ecf3e0576a
Try to publish
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benkatz | 0:4e1c4df6aabd | 1 | #ifndef POSITIONSENSOR_H |
benkatz | 0:4e1c4df6aabd | 2 | #define POSITIONSENSOR_H |
benkatz | 0:4e1c4df6aabd | 3 | class PositionSensor { |
benkatz | 0:4e1c4df6aabd | 4 | public: |
benkatz | 45:aadebe074af6 | 5 | virtual void Sample(float dt) = 0; |
benkatz | 0:4e1c4df6aabd | 6 | virtual float GetMechPosition() {return 0.0f;} |
benkatz | 38:67e4e1453a4b | 7 | virtual float GetMechPositionFixed() {return 0.0f;} |
benkatz | 0:4e1c4df6aabd | 8 | virtual float GetElecPosition() {return 0.0f;} |
benkatz | 9:d7eb815cb057 | 9 | virtual float GetMechVelocity() {return 0.0f;} |
benkatz | 13:a3fa0a31b114 | 10 | virtual float GetElecVelocity() {return 0.0f;} |
benkatz | 22:60276ba87ac6 | 11 | virtual void ZeroPosition(void) = 0; |
benkatz | 22:60276ba87ac6 | 12 | virtual int GetRawPosition(void) = 0; |
benkatz | 22:60276ba87ac6 | 13 | virtual void SetElecOffset(float offset) = 0; |
benkatz | 22:60276ba87ac6 | 14 | virtual int GetCPR(void) = 0; |
benkatz | 22:60276ba87ac6 | 15 | virtual void WriteLUT(int new_lut[128]) = 0; |
benkatz | 0:4e1c4df6aabd | 16 | }; |
benkatz | 0:4e1c4df6aabd | 17 | |
benkatz | 0:4e1c4df6aabd | 18 | |
Wooden | 47:f4ecf3e0576a | 19 | //class PositionSensorEncoder: public PositionSensor { |
Wooden | 47:f4ecf3e0576a | 20 | //public: |
Wooden | 47:f4ecf3e0576a | 21 | // PositionSensorEncoder(int CPR, float offset, int ppairs); |
Wooden | 47:f4ecf3e0576a | 22 | // virtual void Sample(float dt); |
Wooden | 47:f4ecf3e0576a | 23 | // virtual float GetMechPosition(); |
Wooden | 47:f4ecf3e0576a | 24 | // virtual float GetElecPosition(); |
Wooden | 47:f4ecf3e0576a | 25 | // virtual float GetMechVelocity(); |
Wooden | 47:f4ecf3e0576a | 26 | // virtual float GetElecVelocity(); |
Wooden | 47:f4ecf3e0576a | 27 | // virtual void ZeroPosition(void); |
Wooden | 47:f4ecf3e0576a | 28 | // virtual void SetElecOffset(float offset); |
Wooden | 47:f4ecf3e0576a | 29 | // virtual int GetRawPosition(void); |
Wooden | 47:f4ecf3e0576a | 30 | // virtual int GetCPR(void); |
Wooden | 47:f4ecf3e0576a | 31 | // virtual void WriteLUT(int new_lut[128]); |
Wooden | 47:f4ecf3e0576a | 32 | //private: |
Wooden | 47:f4ecf3e0576a | 33 | // InterruptIn *ZPulse; |
Wooden | 47:f4ecf3e0576a | 34 | // DigitalIn *ZSense; |
Wooden | 47:f4ecf3e0576a | 35 | // //DigitalOut *ZTest; |
Wooden | 47:f4ecf3e0576a | 36 | // virtual void ZeroEncoderCount(void); |
Wooden | 47:f4ecf3e0576a | 37 | // virtual void ZeroEncoderCountDown(void); |
Wooden | 47:f4ecf3e0576a | 38 | // int _CPR, flag, rotations, _ppairs, raw; |
Wooden | 47:f4ecf3e0576a | 39 | // //int state; |
Wooden | 47:f4ecf3e0576a | 40 | // float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[40]; |
Wooden | 47:f4ecf3e0576a | 41 | // int offset_lut[128]; |
Wooden | 47:f4ecf3e0576a | 42 | //}; |
benkatz | 14:80ce59119d93 | 43 | |
benkatz | 14:80ce59119d93 | 44 | class PositionSensorAM5147: public PositionSensor{ |
benkatz | 14:80ce59119d93 | 45 | public: |
benkatz | 14:80ce59119d93 | 46 | PositionSensorAM5147(int CPR, float offset, int ppairs); |
benkatz | 45:aadebe074af6 | 47 | virtual void Sample(float dt); |
benkatz | 14:80ce59119d93 | 48 | virtual float GetMechPosition(); |
benkatz | 38:67e4e1453a4b | 49 | virtual float GetMechPositionFixed(); |
benkatz | 14:80ce59119d93 | 50 | virtual float GetElecPosition(); |
benkatz | 14:80ce59119d93 | 51 | virtual float GetMechVelocity(); |
benkatz | 37:c0f352d6e8e3 | 52 | virtual float GetElecVelocity(); |
benkatz | 14:80ce59119d93 | 53 | virtual int GetRawPosition(); |
benkatz | 14:80ce59119d93 | 54 | virtual void ZeroPosition(); |
benkatz | 22:60276ba87ac6 | 55 | virtual void SetElecOffset(float offset); |
benkatz | 37:c0f352d6e8e3 | 56 | virtual void SetMechOffset(float offset); |
benkatz | 22:60276ba87ac6 | 57 | virtual int GetCPR(void); |
benkatz | 22:60276ba87ac6 | 58 | virtual void WriteLUT(int new_lut[128]); |
benkatz | 14:80ce59119d93 | 59 | private: |
benkatz | 35:69b24894c11d | 60 | float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt; |
benkatz | 22:60276ba87ac6 | 61 | int raw, _CPR, rotations, old_counts, _ppairs; |
Wooden | 47:f4ecf3e0576a | 62 | bool flag_first_time; // avoid the first time angle - old_counts |
benkatz | 14:80ce59119d93 | 63 | SPI *spi; |
benkatz | 14:80ce59119d93 | 64 | DigitalOut *cs; |
benkatz | 14:80ce59119d93 | 65 | int readAngleCmd; |
benkatz | 22:60276ba87ac6 | 66 | int offset_lut[128]; |
benkatz | 14:80ce59119d93 | 67 | |
benkatz | 14:80ce59119d93 | 68 | }; |
benkatz | 20:bf9ea5125d52 | 69 | |
benkatz | 0:4e1c4df6aabd | 70 | #endif |