Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

PositionSensor/PositionSensor.h@11:c83b18d41e54, 2016-05-22 (annotated)

Committer:
benkatz
Date:
Sun May 22 00:14:59 2016 +0000
Revision:
11:c83b18d41e54
Parent:
10:370851e6e132
Child:
13:a3fa0a31b114
summer cleaning;

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 0:4e1c4df6aabd 5 virtual float GetMechPosition() {return 0.0f;}
benkatz 0:4e1c4df6aabd 6 virtual float GetElecPosition() {return 0.0f;}
benkatz 9:d7eb815cb057 7 virtual float GetMechVelocity() {return 0.0f;}
benkatz 0:4e1c4df6aabd 8 };
benkatz 0:4e1c4df6aabd 9
benkatz 0:4e1c4df6aabd 10
benkatz 0:4e1c4df6aabd 11 class PositionSensorEncoder: public PositionSensor {
benkatz 0:4e1c4df6aabd 12 public:
benkatz 10:370851e6e132 13 PositionSensorEncoder(int CPR, float offset, int ppairs);
benkatz 0:4e1c4df6aabd 14 virtual float GetMechPosition();
benkatz 0:4e1c4df6aabd 15 virtual float GetElecPosition();
benkatz 3:6a0015d88d06 16 virtual float GetMechVelocity();
benkatz 3:6a0015d88d06 17 virtual float GetElecVelocity();
benkatz 0:4e1c4df6aabd 18 private:
benkatz 0:4e1c4df6aabd 19 InterruptIn *ZPulse;
benkatz 0:4e1c4df6aabd 20 DigitalIn *ZSense;
benkatz 1:b8bceb4daed5 21 //DigitalOut *ZTest;
benkatz 0:4e1c4df6aabd 22 virtual void ZeroEncoderCount(void);
benkatz 7:dc5f27756e02 23 virtual void ZeroEncoderCountDown(void);
benkatz 10:370851e6e132 24 int _CPR, flag, rotations, _ppairs;
benkatz 1:b8bceb4daed5 25 //int state;
benkatz 9:d7eb815cb057 26 float _offset, MechPosition, dir, test_pos, vel_old, out_old;
benkatz 0:4e1c4df6aabd 27 };
benkatz 0:4e1c4df6aabd 28
benkatz 8:10ae7bc88d6e 29 class PositionSensorSPI: public PositionSensor{
benkatz 8:10ae7bc88d6e 30 public:
benkatz 10:370851e6e132 31 PositionSensorSPI(int CPR, float offset, int ppairs);
benkatz 8:10ae7bc88d6e 32 virtual float GetMechPosition();
benkatz 8:10ae7bc88d6e 33 virtual float GetElecPosition();
benkatz 9:d7eb815cb057 34 virtual float GetMechVelocity();
benkatz 11:c83b18d41e54 35 virtual int GetRawPosition();
benkatz 9:d7eb815cb057 36 virtual void ZeroPosition();
benkatz 8:10ae7bc88d6e 37 private:
benkatz 9:d7eb815cb057 38 float _offset, MechPosition, MechOffset;
benkatz 10:370851e6e132 39 int _CPR, rotations, old_counts, _ppairs;
benkatz 8:10ae7bc88d6e 40 SPI *spi;
benkatz 8:10ae7bc88d6e 41 DigitalOut *cs;
benkatz 8:10ae7bc88d6e 42 };
benkatz 0:4e1c4df6aabd 43 #endif