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PositionSensor/PositionSensor.h@0:9edd6ec0f56a, 2017-05-20 (annotated)
- Committer:
- austinbrown124
- Date:
- Sat May 20 21:42:20 2017 +0000
- Revision:
- 0:9edd6ec0f56a
First Commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
austinbrown124 | 0:9edd6ec0f56a | 1 | #ifndef POSITIONSENSOR_H |
austinbrown124 | 0:9edd6ec0f56a | 2 | #define POSITIONSENSOR_H |
austinbrown124 | 0:9edd6ec0f56a | 3 | class PositionSensor { |
austinbrown124 | 0:9edd6ec0f56a | 4 | public: |
austinbrown124 | 0:9edd6ec0f56a | 5 | virtual void Sample(void) = 0; |
austinbrown124 | 0:9edd6ec0f56a | 6 | virtual float GetMechPosition() {return 0.0f;} |
austinbrown124 | 0:9edd6ec0f56a | 7 | virtual float GetElecPosition() {return 0.0f;} |
austinbrown124 | 0:9edd6ec0f56a | 8 | virtual float GetMechVelocity() {return 0.0f;} |
austinbrown124 | 0:9edd6ec0f56a | 9 | virtual float GetElecVelocity() {return 0.0f;} |
austinbrown124 | 0:9edd6ec0f56a | 10 | virtual void ZeroPosition(void) = 0; |
austinbrown124 | 0:9edd6ec0f56a | 11 | virtual int GetRawPosition(void) = 0; |
austinbrown124 | 0:9edd6ec0f56a | 12 | virtual void SetElecOffset(float offset) = 0; |
austinbrown124 | 0:9edd6ec0f56a | 13 | virtual int GetCPR(void) = 0; |
austinbrown124 | 0:9edd6ec0f56a | 14 | virtual void WriteLUT(int new_lut[128]) = 0; |
austinbrown124 | 0:9edd6ec0f56a | 15 | }; |
austinbrown124 | 0:9edd6ec0f56a | 16 | |
austinbrown124 | 0:9edd6ec0f56a | 17 | |
austinbrown124 | 0:9edd6ec0f56a | 18 | class PositionSensorEncoder: public PositionSensor { |
austinbrown124 | 0:9edd6ec0f56a | 19 | public: |
austinbrown124 | 0:9edd6ec0f56a | 20 | PositionSensorEncoder(int CPR, float offset, int ppairs); |
austinbrown124 | 0:9edd6ec0f56a | 21 | virtual void Sample(); |
austinbrown124 | 0:9edd6ec0f56a | 22 | virtual float GetMechPosition(); |
austinbrown124 | 0:9edd6ec0f56a | 23 | virtual float GetElecPosition(); |
austinbrown124 | 0:9edd6ec0f56a | 24 | virtual float GetMechVelocity(); |
austinbrown124 | 0:9edd6ec0f56a | 25 | virtual float GetElecVelocity(); |
austinbrown124 | 0:9edd6ec0f56a | 26 | virtual void ZeroPosition(void); |
austinbrown124 | 0:9edd6ec0f56a | 27 | virtual void SetElecOffset(float offset); |
austinbrown124 | 0:9edd6ec0f56a | 28 | virtual int GetRawPosition(void); |
austinbrown124 | 0:9edd6ec0f56a | 29 | virtual int GetCPR(void); |
austinbrown124 | 0:9edd6ec0f56a | 30 | virtual void WriteLUT(int new_lut[128]); |
austinbrown124 | 0:9edd6ec0f56a | 31 | private: |
austinbrown124 | 0:9edd6ec0f56a | 32 | InterruptIn *ZPulse; |
austinbrown124 | 0:9edd6ec0f56a | 33 | DigitalIn *ZSense; |
austinbrown124 | 0:9edd6ec0f56a | 34 | //DigitalOut *ZTest; |
austinbrown124 | 0:9edd6ec0f56a | 35 | virtual void ZeroEncoderCount(void); |
austinbrown124 | 0:9edd6ec0f56a | 36 | virtual void ZeroEncoderCountDown(void); |
austinbrown124 | 0:9edd6ec0f56a | 37 | int _CPR, flag, rotations, _ppairs, raw; |
austinbrown124 | 0:9edd6ec0f56a | 38 | //int state; |
austinbrown124 | 0:9edd6ec0f56a | 39 | float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[16]; |
austinbrown124 | 0:9edd6ec0f56a | 40 | int offset_lut[128]; |
austinbrown124 | 0:9edd6ec0f56a | 41 | }; |
austinbrown124 | 0:9edd6ec0f56a | 42 | /* |
austinbrown124 | 0:9edd6ec0f56a | 43 | class PositionSensorAM5147: public PositionSensor{ |
austinbrown124 | 0:9edd6ec0f56a | 44 | public: |
austinbrown124 | 0:9edd6ec0f56a | 45 | PositionSensorAM5147(int CPR, float offset, int ppairs); |
austinbrown124 | 0:9edd6ec0f56a | 46 | virtual void Sample(); |
austinbrown124 | 0:9edd6ec0f56a | 47 | virtual float GetMechPosition(); |
austinbrown124 | 0:9edd6ec0f56a | 48 | virtual float GetElecPosition(); |
austinbrown124 | 0:9edd6ec0f56a | 49 | virtual float GetMechVelocity(); |
austinbrown124 | 0:9edd6ec0f56a | 50 | virtual int GetRawPosition(); |
austinbrown124 | 0:9edd6ec0f56a | 51 | virtual void ZeroPosition(); |
austinbrown124 | 0:9edd6ec0f56a | 52 | virtual void SetElecOffset(float offset); |
austinbrown124 | 0:9edd6ec0f56a | 53 | virtual int GetCPR(void); |
austinbrown124 | 0:9edd6ec0f56a | 54 | virtual void WriteLUT(int new_lut[128]); |
austinbrown124 | 0:9edd6ec0f56a | 55 | private: |
austinbrown124 | 0:9edd6ec0f56a | 56 | float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[16], MechVelocity, ElecVelocity; |
austinbrown124 | 0:9edd6ec0f56a | 57 | int raw, _CPR, rotations, old_counts, _ppairs; |
austinbrown124 | 0:9edd6ec0f56a | 58 | SPI *spi; |
austinbrown124 | 0:9edd6ec0f56a | 59 | DigitalOut *cs; |
austinbrown124 | 0:9edd6ec0f56a | 60 | int readAngleCmd; |
austinbrown124 | 0:9edd6ec0f56a | 61 | int offset_lut[128]; |
austinbrown124 | 0:9edd6ec0f56a | 62 | |
austinbrown124 | 0:9edd6ec0f56a | 63 | };*/ |
austinbrown124 | 0:9edd6ec0f56a | 64 | |
austinbrown124 | 0:9edd6ec0f56a | 65 | #endif |