Ben Katz / Hobbyking_Cheetah_Compact_DRV8323

DRV8323RS Version

Dependencies:   mbed-dev-f303 FastPWM3

PositionSensor/PositionSensor.h@22:60276ba87ac6, 2017-03-31 (annotated)

Committer:
benkatz
Date:
Fri Mar 31 18:24:46 2017 +0000
Revision:
22:60276ba87ac6
Parent:
20:bf9ea5125d52
Child:
34:51647c6c500d
Encoder autocalibration for dc offset and harmonics

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 22:60276ba87ac6 39 float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[16];
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 14:80ce59119d93 50 virtual int GetRawPosition();
benkatz 14:80ce59119d93 51 virtual void ZeroPosition();
benkatz 22:60276ba87ac6 52 virtual void SetElecOffset(float offset);
benkatz 22:60276ba87ac6 53 virtual int GetCPR(void);
benkatz 22:60276ba87ac6 54 virtual void WriteLUT(int new_lut[128]);
benkatz 14:80ce59119d93 55 private:
benkatz 22:60276ba87ac6 56 float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[16], MechVelocity, ElecVelocity;
benkatz 22:60276ba87ac6 57 int raw, _CPR, rotations, old_counts, _ppairs;
benkatz 14:80ce59119d93 58 SPI *spi;
benkatz 14:80ce59119d93 59 DigitalOut *cs;
benkatz 14:80ce59119d93 60 int readAngleCmd;
benkatz 22:60276ba87ac6 61 int offset_lut[128];
benkatz 14:80ce59119d93 62
benkatz 14:80ce59119d93 63 };
benkatz 20:bf9ea5125d52 64
benkatz 0:4e1c4df6aabd 65 #endif