Diff: Actuators/MaxonESCON/MaxonESCON.h

Revision:

0:31f7be68e52d

Child:

1:6cd533a712c6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuators/MaxonESCON/MaxonESCON.h	Thu Feb 07 17:43:19 2013 +0000
@@ -0,0 +1,109 @@
+#ifndef _MAXON_ESCON_H_
+#define _MAXON_ESCON_H_
+
+#include "mbed.h"
+#include "Hallsensor.h"
+#include "defines.h"
+
+/**
+ * @author Christian Burri
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2013 HSLU Pren Team #1 Cruising Crêpe
+ * All rights reserved.
+ *
+ * @section DESCRIPTION
+ *
+ * This class implements the driver for the Maxon ESCON servo driver.....
+ *
+ * Datasheet:
+ *
+ * http://escon.maxonmotor.com
+ */
+class MaxonESCON
+{
+
+protected:
+
+    /** Duty Cycle to set the speed */
+    PwmOut _pwm;
+    /** To Enable the amplifier */
+    DigitalOut _enb;
+    /** Hallsensor Class */
+    Hallsensor* _hall;
+    /** Ready output from ESCON */
+    DigitalIn _isenb;
+    /** Actual speed from ESCON analog Output 1 */
+    AnalogIn _actualSpeed;
+
+private:
+
+    /** increment the Hallpattern */
+    int    _pulses;
+
+public:
+
+    /** 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 hall1 HALL Object
+       * @param Actual Speed AnalogIn Filtered Signal for ActualSpeed from Motor
+       */
+    MaxonESCON(PinName enb,
+               PinName isenb,
+               PinName pwm,
+               PinName actualSpeed,
+               Hallsensor *hall);
+
+    /** Set the speed of the motor with a pwm for 10%..90%
+    *  50% PWM is 0rpm
+    *  Caclulate from 1/s in 1/min plus the Facotr of the ESCON
+    * @param speed The speed of the motor as a normalised value in [1/s]
+    */
+    void setVelocity(float speed);
+
+    /**Return the speed from ESCON
+    *
+    * Analog input 1.65V = 0 rpm
+    *
+    * @return speed of the motor [1/s]
+    */
+    float getActualSpeed(void);
+
+    /** Set the period of the pwm duty cycle.
+    *
+    * Wrapper for PwmOut::period()
+    *
+    * @param seconds - Pwm duty cycle in seconds.
+    */
+    void period(float period);
+
+    /** Set the Motor to a enable sate
+    *
+    * @param enable - 0 for disable 1 for enable.
+    */
+    void enable (bool enb);
+
+    /**Tests if the servo drive is enabled.
+    *
+    * @return <code>true</code> if the drive is enabled, <code>false</code> otherwise.
+    */
+    bool isEnabled(void);
+
+    /** Return the translativ Position
+    *
+    * @return position in meter
+    */
+    int getPulses(void);
+
+    /** Set the Pulses of the Motor
+    *
+    * @return number of turns
+    */
+    int setPulses(int setPos);
+};
+
+#endif