This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
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Diff: ActuatorsSensor/MaxonESCON.h
- Revision:
- 12:235e318a414f
- Parent:
- 11:775ebb69d5e1
- Child:
- 15:cb1337567ad4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ActuatorsSensor/MaxonESCON.h Sun Apr 07 08:31:51 2013 +0000 @@ -0,0 +1,101 @@ +#ifndef _MAXON_ESCON_H_ +#define _MAXON_ESCON_H_ + +#include "Hallsensor.h" +#include "defines.h" + +/** + * @author Christian Burri + * + * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe + * All rights reserved. + * + * @brief + * + * This class implements the driver for the Maxon ESCON servo driver. + * For more information see the Datasheet: + * <a href="http://escon.maxonmotor.com">http://escon.maxonmotor.com</a> + */ +class MaxonESCON +{ + +private: + + /** @brief To Enable the amplifier */ + DigitalOut _enb; + /** @brief Duty Cycle to set the speed */ + PwmOut _pwm; + /** @brief Hallsensor Class */ + Hallsensor* _hall; + /** @brief Ready output from ESCON */ + DigitalIn _isenb; + /** @brief Actual speed from ESCON analog Output 1 */ + AnalogIn _actualSpeed; + /** @brief increment the Hallpattern */ + int _pulses; + +public: + + /** + * @brief Create a motor control object. + * @param enb DigitalOut, set high for enable + * @param isenb DigitalIn, high for enable + * @param pwm PwmOut pin, set the velocity + * @param actualSpeed AnalogIn filtered signal for ActualSpeed from Motor + * @param hall The object of the hallsensor from Motor + */ + MaxonESCON(PinName enb, + PinName isenb, + PinName pwm, + PinName actualSpeed, + Hallsensor *hall); + + /** + * @brief Set the speed of the motor with a pwm for 10%..90%. + * 50% PWM is 0rpm. + * Caclulate from [1/s] in [1/min] and the Factor of the ESCON. + * @param speed The speed of the motor as a normalised value, given in [1/s] + */ + void setVelocity(float speed); + + /** + * @brief Return the speed from ESCON. + * 0 rpm is defined in the Analog input as 1.65V + * @return speed of the motor, given in [1/s] + */ + float getActualSpeed(void); + + /** + * @brief Set the period of the pwm duty cycle. + * Wrapper for PwmOut::period() + * @param period Pwm duty cycle, given in [s]. + */ + void period(float period); + + /** + * @brief Set the Motor to a enable sate. + * @param enb <code>false</code> for disable <code>true</code> for enable. + */ + void enable(bool enb); + + /** + * @brief Tests if the servo drive is enabled. + * @return <code>true</code> if the drive is enabled, + * <code>false</code> otherwise. + */ + bool isEnabled(void); + + /** + * @brief Return the number of Pulses. + * @return Pulses, given in [count] + */ + int getPulses(void); + + /** + * @brief Set the Pulses of the Motor, given in [count] + * @return Pulses, given in [count] + */ + int setPulses(int setPos); +}; + +#endif