This program is for an autonomous robot for the competition at the Hochschule Luzern. We are one of the 32 teams. <a href="http://cruisingcrepe.wordpress.com/">http://cruisingcrepe.wordpress.com/</a> 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: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
Fork of autonomousRobotAndroid by
ActuatorsSensor/MaxonESCON.h@12:235e318a414f, 2013-04-07 (annotated)
- Committer:
- chrigelburri
- Date:
- Sun Apr 07 08:31:51 2013 +0000
- Revision:
- 12:235e318a414f
- Parent:
- Actuators/MaxonESCON.h@11:775ebb69d5e1
- Child:
- 15:cb1337567ad4
Kommentare nochmals verbessert android fehlt noch
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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chrigelburri | 0:31f7be68e52d | 1 | #ifndef _MAXON_ESCON_H_ |
chrigelburri | 0:31f7be68e52d | 2 | #define _MAXON_ESCON_H_ |
chrigelburri | 0:31f7be68e52d | 3 | |
chrigelburri | 0:31f7be68e52d | 4 | #include "Hallsensor.h" |
chrigelburri | 0:31f7be68e52d | 5 | #include "defines.h" |
chrigelburri | 0:31f7be68e52d | 6 | |
chrigelburri | 0:31f7be68e52d | 7 | /** |
chrigelburri | 0:31f7be68e52d | 8 | * @author Christian Burri |
chrigelburri | 0:31f7be68e52d | 9 | * |
chrigelburri | 11:775ebb69d5e1 | 10 | * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe |
chrigelburri | 0:31f7be68e52d | 11 | * All rights reserved. |
chrigelburri | 0:31f7be68e52d | 12 | * |
chrigelburri | 11:775ebb69d5e1 | 13 | * @brief |
chrigelburri | 0:31f7be68e52d | 14 | * |
chrigelburri | 3:92ba0254af87 | 15 | * This class implements the driver for the Maxon ESCON servo driver. |
chrigelburri | 11:775ebb69d5e1 | 16 | * For more information see the Datasheet: |
chrigelburri | 3:92ba0254af87 | 17 | * <a href="http://escon.maxonmotor.com">http://escon.maxonmotor.com</a> |
chrigelburri | 0:31f7be68e52d | 18 | */ |
chrigelburri | 0:31f7be68e52d | 19 | class MaxonESCON |
chrigelburri | 0:31f7be68e52d | 20 | { |
chrigelburri | 0:31f7be68e52d | 21 | |
chrigelburri | 2:d8e1613dc38b | 22 | private: |
chrigelburri | 0:31f7be68e52d | 23 | |
chrigelburri | 11:775ebb69d5e1 | 24 | /** @brief To Enable the amplifier */ |
chrigelburri | 2:d8e1613dc38b | 25 | DigitalOut _enb; |
chrigelburri | 11:775ebb69d5e1 | 26 | /** @brief Duty Cycle to set the speed */ |
chrigelburri | 0:31f7be68e52d | 27 | PwmOut _pwm; |
chrigelburri | 11:775ebb69d5e1 | 28 | /** @brief Hallsensor Class */ |
chrigelburri | 0:31f7be68e52d | 29 | Hallsensor* _hall; |
chrigelburri | 11:775ebb69d5e1 | 30 | /** @brief Ready output from ESCON */ |
chrigelburri | 0:31f7be68e52d | 31 | DigitalIn _isenb; |
chrigelburri | 11:775ebb69d5e1 | 32 | /** @brief Actual speed from ESCON analog Output 1 */ |
chrigelburri | 0:31f7be68e52d | 33 | AnalogIn _actualSpeed; |
chrigelburri | 11:775ebb69d5e1 | 34 | /** @brief increment the Hallpattern */ |
chrigelburri | 0:31f7be68e52d | 35 | int _pulses; |
chrigelburri | 0:31f7be68e52d | 36 | |
chrigelburri | 0:31f7be68e52d | 37 | public: |
chrigelburri | 0:31f7be68e52d | 38 | |
chrigelburri | 11:775ebb69d5e1 | 39 | /** |
chrigelburri | 11:775ebb69d5e1 | 40 | * @brief Create a motor control object. |
chrigelburri | 6:48eeb41188dd | 41 | * @param enb DigitalOut, set high for enable |
chrigelburri | 6:48eeb41188dd | 42 | * @param isenb DigitalIn, high for enable |
chrigelburri | 6:48eeb41188dd | 43 | * @param pwm PwmOut pin, set the velocity |
chrigelburri | 6:48eeb41188dd | 44 | * @param actualSpeed AnalogIn filtered signal for ActualSpeed from Motor |
chrigelburri | 6:48eeb41188dd | 45 | * @param hall The object of the hallsensor from Motor |
chrigelburri | 6:48eeb41188dd | 46 | */ |
chrigelburri | 0:31f7be68e52d | 47 | MaxonESCON(PinName enb, |
chrigelburri | 0:31f7be68e52d | 48 | PinName isenb, |
chrigelburri | 0:31f7be68e52d | 49 | PinName pwm, |
chrigelburri | 0:31f7be68e52d | 50 | PinName actualSpeed, |
chrigelburri | 0:31f7be68e52d | 51 | Hallsensor *hall); |
chrigelburri | 0:31f7be68e52d | 52 | |
chrigelburri | 11:775ebb69d5e1 | 53 | /** |
chrigelburri | 11:775ebb69d5e1 | 54 | * @brief Set the speed of the motor with a pwm for 10%..90%. |
chrigelburri | 6:48eeb41188dd | 55 | * 50% PWM is 0rpm. |
chrigelburri | 6:48eeb41188dd | 56 | * Caclulate from [1/s] in [1/min] and the Factor of the ESCON. |
chrigelburri | 6:48eeb41188dd | 57 | * @param speed The speed of the motor as a normalised value, given in [1/s] |
chrigelburri | 6:48eeb41188dd | 58 | */ |
chrigelburri | 0:31f7be68e52d | 59 | void setVelocity(float speed); |
chrigelburri | 0:31f7be68e52d | 60 | |
chrigelburri | 11:775ebb69d5e1 | 61 | /** |
chrigelburri | 11:775ebb69d5e1 | 62 | * @brief Return the speed from ESCON. |
chrigelburri | 6:48eeb41188dd | 63 | * 0 rpm is defined in the Analog input as 1.65V |
chrigelburri | 6:48eeb41188dd | 64 | * @return speed of the motor, given in [1/s] |
chrigelburri | 6:48eeb41188dd | 65 | */ |
chrigelburri | 0:31f7be68e52d | 66 | float getActualSpeed(void); |
chrigelburri | 0:31f7be68e52d | 67 | |
chrigelburri | 11:775ebb69d5e1 | 68 | /** |
chrigelburri | 11:775ebb69d5e1 | 69 | * @brief Set the period of the pwm duty cycle. |
chrigelburri | 6:48eeb41188dd | 70 | * Wrapper for PwmOut::period() |
chrigelburri | 6:48eeb41188dd | 71 | * @param period Pwm duty cycle, given in [s]. |
chrigelburri | 6:48eeb41188dd | 72 | */ |
chrigelburri | 0:31f7be68e52d | 73 | void period(float period); |
chrigelburri | 0:31f7be68e52d | 74 | |
chrigelburri | 11:775ebb69d5e1 | 75 | /** |
chrigelburri | 11:775ebb69d5e1 | 76 | * @brief Set the Motor to a enable sate. |
chrigelburri | 6:48eeb41188dd | 77 | * @param enb <code>false</code> for disable <code>true</code> for enable. |
chrigelburri | 6:48eeb41188dd | 78 | */ |
chrigelburri | 3:92ba0254af87 | 79 | void enable(bool enb); |
chrigelburri | 0:31f7be68e52d | 80 | |
chrigelburri | 11:775ebb69d5e1 | 81 | /** |
chrigelburri | 11:775ebb69d5e1 | 82 | * @brief Tests if the servo drive is enabled. |
chrigelburri | 11:775ebb69d5e1 | 83 | * @return <code>true</code> if the drive is enabled, |
chrigelburri | 6:48eeb41188dd | 84 | * <code>false</code> otherwise. |
chrigelburri | 6:48eeb41188dd | 85 | */ |
chrigelburri | 0:31f7be68e52d | 86 | bool isEnabled(void); |
chrigelburri | 0:31f7be68e52d | 87 | |
chrigelburri | 11:775ebb69d5e1 | 88 | /** |
chrigelburri | 11:775ebb69d5e1 | 89 | * @brief Return the number of Pulses. |
chrigelburri | 6:48eeb41188dd | 90 | * @return Pulses, given in [count] |
chrigelburri | 6:48eeb41188dd | 91 | */ |
chrigelburri | 0:31f7be68e52d | 92 | int getPulses(void); |
chrigelburri | 0:31f7be68e52d | 93 | |
chrigelburri | 11:775ebb69d5e1 | 94 | /** |
chrigelburri | 11:775ebb69d5e1 | 95 | * @brief Set the Pulses of the Motor, given in [count] |
chrigelburri | 6:48eeb41188dd | 96 | * @return Pulses, given in [count] |
chrigelburri | 6:48eeb41188dd | 97 | */ |
chrigelburri | 0:31f7be68e52d | 98 | int setPulses(int setPos); |
chrigelburri | 0:31f7be68e52d | 99 | }; |
chrigelburri | 0:31f7be68e52d | 100 | |
chrigelburri | 0:31f7be68e52d | 101 | #endif |