Winnie Liu / Hobbyking_Cheetah_modify1105

hobbyking_cheetah source code modified 2020/12/15

Dependencies:   mbed-dev-f303 FastPWM3

PositionSensor/PositionSensor.h@37:c0f352d6e8e3, 2018-04-13 (annotated)

Committer:
benkatz
Date:
Fri Apr 13 13:50:54 2018 +0000
Revision:
37:c0f352d6e8e3
Parent:
35:69b24894c11d
Child:
38:67e4e1453a4b
always samples position sensor

Who changed what in which revision?

UserRevisionLine numberNew 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 22:60276ba87ac6 5 virtual void Sample(void) = 0;
benkatz 0:4e1c4df6aabd 6 virtual float GetMechPosition() {return 0.0f;}
benkatz 0:4e1c4df6aabd 7 virtual float GetElecPosition() {return 0.0f;}
benkatz 9:d7eb815cb057 8 virtual float GetMechVelocity() {return 0.0f;}
benkatz 13:a3fa0a31b114 9 virtual float GetElecVelocity() {return 0.0f;}
benkatz 22:60276ba87ac6 10 virtual void ZeroPosition(void) = 0;
benkatz 22:60276ba87ac6 11 virtual int GetRawPosition(void) = 0;
benkatz 22:60276ba87ac6 12 virtual void SetElecOffset(float offset) = 0;
benkatz 22:60276ba87ac6 13 virtual int GetCPR(void) = 0;
benkatz 22:60276ba87ac6 14 virtual void WriteLUT(int new_lut[128]) = 0;
benkatz 0:4e1c4df6aabd 15 };
benkatz 0:4e1c4df6aabd 16
benkatz 0:4e1c4df6aabd 17
benkatz 0:4e1c4df6aabd 18 class PositionSensorEncoder: public PositionSensor {
benkatz 0:4e1c4df6aabd 19 public:
benkatz 10:370851e6e132 20 PositionSensorEncoder(int CPR, float offset, int ppairs);
benkatz 22:60276ba87ac6 21 virtual void Sample();
benkatz 0:4e1c4df6aabd 22 virtual float GetMechPosition();
benkatz 0:4e1c4df6aabd 23 virtual float GetElecPosition();
benkatz 3:6a0015d88d06 24 virtual float GetMechVelocity();
benkatz 3:6a0015d88d06 25 virtual float GetElecVelocity();
benkatz 22:60276ba87ac6 26 virtual void ZeroPosition(void);
benkatz 22:60276ba87ac6 27 virtual void SetElecOffset(float offset);
benkatz 22:60276ba87ac6 28 virtual int GetRawPosition(void);
benkatz 22:60276ba87ac6 29 virtual int GetCPR(void);
benkatz 22:60276ba87ac6 30 virtual void WriteLUT(int new_lut[128]);
benkatz 0:4e1c4df6aabd 31 private:
benkatz 0:4e1c4df6aabd 32 InterruptIn *ZPulse;
benkatz 0:4e1c4df6aabd 33 DigitalIn *ZSense;
benkatz 1:b8bceb4daed5 34 //DigitalOut *ZTest;
benkatz 0:4e1c4df6aabd 35 virtual void ZeroEncoderCount(void);
benkatz 7:dc5f27756e02 36 virtual void ZeroEncoderCountDown(void);
benkatz 22:60276ba87ac6 37 int _CPR, flag, rotations, _ppairs, raw;
benkatz 1:b8bceb4daed5 38 //int state;
benkatz 35:69b24894c11d 39 float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[40];
benkatz 22:60276ba87ac6 40 int offset_lut[128];
benkatz 8:10ae7bc88d6e 41 };
benkatz 14:80ce59119d93 42
benkatz 14:80ce59119d93 43 class PositionSensorAM5147: public PositionSensor{
benkatz 14:80ce59119d93 44 public:
benkatz 14:80ce59119d93 45 PositionSensorAM5147(int CPR, float offset, int ppairs);
benkatz 22:60276ba87ac6 46 virtual void Sample();
benkatz 14:80ce59119d93 47 virtual float GetMechPosition();
benkatz 14:80ce59119d93 48 virtual float GetElecPosition();
benkatz 14:80ce59119d93 49 virtual float GetMechVelocity();
benkatz 37:c0f352d6e8e3 50 virtual float GetElecVelocity();
benkatz 14:80ce59119d93 51 virtual int GetRawPosition();
benkatz 14:80ce59119d93 52 virtual void ZeroPosition();
benkatz 22:60276ba87ac6 53 virtual void SetElecOffset(float offset);
benkatz 37:c0f352d6e8e3 54 virtual void SetMechOffset(float offset);
benkatz 22:60276ba87ac6 55 virtual int GetCPR(void);
benkatz 22:60276ba87ac6 56 virtual void WriteLUT(int new_lut[128]);
benkatz 14:80ce59119d93 57 private:
benkatz 35:69b24894c11d 58 float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt;
benkatz 22:60276ba87ac6 59 int raw, _CPR, rotations, old_counts, _ppairs;
benkatz 14:80ce59119d93 60 SPI *spi;
benkatz 14:80ce59119d93 61 DigitalOut *cs;
benkatz 14:80ce59119d93 62 int readAngleCmd;
benkatz 22:60276ba87ac6 63 int offset_lut[128];
benkatz 14:80ce59119d93 64
benkatz 14:80ce59119d93 65 };
benkatz 20:bf9ea5125d52 66
benkatz 0:4e1c4df6aabd 67 #endif