Diff: Actuators/MaxonESCON.h

Revision:

3:92ba0254af87

Parent:

2:d8e1613dc38b

Child:

6:48eeb41188dd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuators/MaxonESCON.h	Thu Mar 07 09:47:07 2013 +0000
@@ -0,0 +1,97 @@
+#ifndef _MAXON_ESCON_H_
+#define _MAXON_ESCON_H_
+
+#include "mbed.h"
+#include "Hallsensor.h"
+#include "defines.h"
+
+/**
+ * @author Christian Burri
+ *
+ * @section LICENSE
+ *
+ * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
+ * All rights reserved.
+ *
+ * @section DESCRIPTION
+ *
+ * This class implements the driver for the Maxon ESCON servo driver.
+ * For more information see on the Datasheet:
+ *
+ * Datasheet:
+ * <a href="http://escon.maxonmotor.com">http://escon.maxonmotor.com</a>
+ */
+class MaxonESCON
+{
+
+private:
+
+    /** To Enable the amplifier */
+    DigitalOut _enb;
+    /** Duty Cycle to set the speed */
+    PwmOut _pwm;
+    /** Hallsensor Class */
+    Hallsensor* _hall;
+    /** Ready output from ESCON */
+    DigitalIn _isenb;
+    /** Actual speed from ESCON analog Output 1 */
+    AnalogIn _actualSpeed;
+    /** 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 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);
+
+    /** 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);
+
+    /**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);
+
+    /** Set the period of the pwm duty cycle.
+    * Wrapper for PwmOut::period()
+    * @param period Pwm duty cycle, given in [s].
+    */
+    void period(float period);
+
+    /** Set the Motor to a enable sate.
+    * @param enb <code>false</code> for disable <code>true</code> 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 number of Pulses.
+    * @return Pulses, given in [count]
+    */
+    int getPulses(void);
+
+    /** Set the Pulses of the Motor, given in [count]
+    * @return Pulses, given in [count]
+    */
+    int setPulses(int setPos);
+};
+
+#endif