MaxonESCON.h

00001 #ifndef _MAXON_ESCON_H_
00002 #define _MAXON_ESCON_H_
00003 
00004 #include "Hallsensor.h"
00005 #include "defines.h"
00006 
00007 /**
00008  * @author Christian Burri
00009  *
00010  * @copyright Copyright (c) 2013 HSLU Pren Team #1 Cruising Crêpe
00011  * All rights reserved.
00012  *
00013  * @brief
00014  *
00015  * This class implements the driver for the Maxon ESCON servo driver.
00016  * For more information see the Datasheet:
00017  * <a href="http://escon.maxonmotor.com">http://escon.maxonmotor.com</a>
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
00020  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00021  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
00022  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
00024  * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
00025  * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 class MaxonESCON
00028 {
00029 
00030 private:
00031 
00032     /** @brief To Enable the amplifier */
00033     DigitalOut _enb;
00034     /** @brief Duty Cycle to set the speed */
00035     PwmOut _pwm;
00036     /** @brief Hallsensor Class */
00037     Hallsensor* _hall;
00038     /** @brief Ready output from ESCON */
00039     DigitalIn _isenb;
00040     /** @brief Actual speed from ESCON analog Output 1 */
00041     AnalogIn _actualSpeed;
00042     /** @brief increment the Hallpattern */
00043     int    _pulses;
00044 
00045 public:
00046 
00047     /**
00048      * @brief Create a motor control object.
00049      * @param enb DigitalOut, set high for enable
00050      * @param isenb DigitalIn, high for enable
00051      * @param pwm PwmOut pin, set the velocity
00052      * @param actualSpeed AnalogIn filtered signal for ActualSpeed from Motor
00053      * @param hall The object of the hallsensor from Motor
00054      */
00055     MaxonESCON(PinName enb,
00056                PinName isenb,
00057                PinName pwm,
00058                PinName actualSpeed,
00059                Hallsensor *hall);
00060 
00061     /** 
00062      * @brief Set the speed of the motor with a pwm for 10%..90%.
00063      * 50% PWM is 0rpm.
00064      * Caclulate from [1/s] in [1/min] and the factor of the ESCON.
00065      * @param speed The speed of the motor as a normalised value, given in [1/s]
00066      */
00067     void setVelocity(float speed);
00068 
00069     /** 
00070      * @brief Return the speed from ESCON.
00071      * 0 rpm is defined in the analog input as 1.65V
00072      * @return speed of the motor, given in [1/s]
00073      */
00074     float getActualSpeed(void);
00075 
00076     /** 
00077      * @brief Set the period of the pwm duty cycle.
00078      * Wrapper for PwmOut::period()
00079      * @param period Pwm duty cycle, given in [s].
00080      */
00081     void period(float period);
00082 
00083     /** 
00084      * @brief Set the motor to a enable sate.
00085      * @param enb <code>false</code> for disable <code>true</code> for enable.
00086      */
00087     void enable(bool enb);
00088 
00089     /**
00090      * @brief Tests if the servo drive is enabled.
00091      * @return <code>true</code> if the drive is enabled,
00092      * <code>false</code> otherwise.
00093      */
00094     bool isEnabled(void);
00095 
00096     /**
00097      * @brief Return the number of pulses.
00098      * @return Pulses, given in [count]
00099      */
00100     int getPulses(void);
00101 
00102     /**
00103      * @brief Set the pulses of the motor, given in [count]
00104      * @return Pulses, given in [count]
00105      */
00106     int setPulses(int setPos);
00107 };
00108 
00109 #endif