Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
PositionSensor/PositionSensor.h
- Committer:
- adimmit
- Date:
- 23 months ago
- Revision:
- 78:4f481ff040ee
- Parent:
- 58:32e8927fe39f
File content as of revision 78:4f481ff040ee:
#ifndef POSITIONSENSOR_H #define POSITIONSENSOR_H class PositionSensor { public: virtual void Sample(float dt) = 0; virtual float GetMechPosition() {return 0.0f;} virtual float GetMechPositionFixed() {return 0.0f;} virtual float GetElecPosition() {return 0.0f;} virtual float GetMechVelocity() {return 0.0f;} virtual float GetElecVelocity() {return 0.0f;} virtual void ZeroPosition(void) = 0; virtual int GetRawPosition(void) = 0; virtual void SetElecOffset(float offset) = 0; virtual int GetCPR(void) = 0; virtual void WriteLUT(int new_lut[128]) = 0; }; class PositionSensorEncoder: public PositionSensor { public: PositionSensorEncoder(int CPR, float offset, int ppairs); virtual void Sample(float dt); virtual float GetMechPosition(); virtual float GetElecPosition(); virtual float GetMechVelocity(); virtual float GetElecVelocity(); virtual void ZeroPosition(void); virtual void SetElecOffset(float offset); virtual int GetRawPosition(void); virtual int GetCPR(void); virtual void WriteLUT(int new_lut[128]); private: InterruptIn *ZPulse; DigitalIn *ZSense; //DigitalOut *ZTest; virtual void ZeroEncoderCount(void); virtual void ZeroEncoderCountDown(void); int _CPR, flag, rotations, _ppairs, raw, first_sample; //int state; float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[40]; int offset_lut[128]; }; class PositionSensorAM5147: public PositionSensor{ public: PositionSensorAM5147(int CPR, float offset, int ppairs); virtual void Sample(float dt); virtual float GetMechPosition(); virtual float GetMechPositionFixed(); virtual float GetElecPosition(); virtual float GetMechVelocity(); virtual float GetElecVelocity(); virtual int GetRawPosition(); virtual void ZeroPosition(); virtual void SetElecOffset(float offset); virtual void SetMechOffset(float offset); virtual int GetCPR(void); virtual void WriteLUT(int new_lut[128]); private: float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt; int raw, _CPR, rotations, old_counts, _ppairs, first_sample; SPI *spi; DigitalOut *cs; int readAngleCmd; int offset_lut[128]; }; class PositionSensoriCMU: public PositionSensor{ public: PositionSensoriCMU(int CPR, float offset, int ppairs); virtual void Sample(float dt); virtual float GetMechPosition(); virtual float GetMechPositionFixed(); virtual float GetElecPosition(); virtual float GetMechVelocity(); virtual float GetElecVelocity(); virtual int GetRawPosition(); virtual void ZeroPosition(); virtual void SetElecOffset(float offset); virtual void SetMechOffset(float offset); virtual int GetCPR(void); virtual void WriteLUT(int new_lut[128]); private: float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt; int raw, lut_shift, _CPR, rotations, old_counts, _ppairs, first_sample, raw_bytes[8]; SPI *spi; DigitalOut *cs; int readAngleCmd; int offset_lut[128]; }; #endif