Craig Russell / LinearActuatorControl

A library to control a linear actuator box

linearActuatorControl.cpp@1:cf533adb862c, 2020-02-24 (annotated)

Committer:
crussell21
Date:
Mon Feb 24 08:34:01 2020 +0000
Revision:
1:cf533adb862c
Parent:
0:1a5f4c492b1a 
inverted conditional so switch up and down are flipped to a more logical interpretation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
crussell21 0:1a5f4c492b1a 1 #include "linearActuatorControl.h"
crussell21 0:1a5f4c492b1a 2
crussell21 0:1a5f4c492b1a 3 LinearActuatorControl::LinearActuatorControl() : _controlMode(D7), _runMode(D8),
crussell21 0:1a5f4c492b1a 4 _linAct1(D9), _linAct2(D10), _linAct3(D11), _linAct4(D12),
crussell21 0:1a5f4c492b1a 5 _actBtn1(D3), _actBtn2(D4), _actBtn3(D5), _actBtn4(D6) {
crussell21 0:1a5f4c492b1a 6
crussell21 0:1a5f4c492b1a 7 for (int i = 0; i < 4; i++) {
crussell21 0:1a5f4c492b1a 8 _idlePositions[i] = 0;
crussell21 0:1a5f4c492b1a 9 _actPositions[i] = 0;
crussell21 0:1a5f4c492b1a 10 _manualPositionsDown[i] = 0;
crussell21 0:1a5f4c492b1a 11 _manualPositionsUp[i] = 1;
crussell21 0:1a5f4c492b1a 12 }
crussell21 0:1a5f4c492b1a 13
crussell21 0:1a5f4c492b1a 14 _linAct1.period_ms(20);
crussell21 0:1a5f4c492b1a 15 _linAct2.period_ms(20);
crussell21 0:1a5f4c492b1a 16 _linAct3.period_ms(20);
crussell21 0:1a5f4c492b1a 17 _linAct4.period_ms(20);
crussell21 0:1a5f4c492b1a 18 }
crussell21 0:1a5f4c492b1a 19
crussell21 0:1a5f4c492b1a 20 void LinearActuatorControl::refresh() {
crussell21 0:1a5f4c492b1a 21 if (!_controlMode) {
crussell21 1:cf533adb862c 22 _linAct1.pulsewidth_us(!_actBtn1 ? (1000*(1+_manualPositionsDown[0])) : (1000*(1+_manualPositionsUp[0])));
crussell21 1:cf533adb862c 23 _linAct2.pulsewidth_us(!_actBtn2 ? (1000*(1+_manualPositionsDown[1])) : (1000*(1+_manualPositionsUp[1])));
crussell21 1:cf533adb862c 24 _linAct3.pulsewidth_us(!_actBtn3 ? (1000*(1+_manualPositionsDown[2])) : (1000*(1+_manualPositionsUp[2])));
crussell21 1:cf533adb862c 25 _linAct4.pulsewidth_us(!_actBtn4 ? (1000*(1+_manualPositionsDown[3])) : (1000*(1+_manualPositionsUp[3])));
crussell21 0:1a5f4c492b1a 26
crussell21 0:1a5f4c492b1a 27 } else {
crussell21 0:1a5f4c492b1a 28 if (_runMode) {
crussell21 0:1a5f4c492b1a 29 //update PWM to sequence positions
crussell21 0:1a5f4c492b1a 30 _linAct1.pulsewidth_us(1000*(1+_actPositions[0]));
crussell21 0:1a5f4c492b1a 31 _linAct2.pulsewidth_us(1000*(1+_actPositions[1]));
crussell21 0:1a5f4c492b1a 32 _linAct3.pulsewidth_us(1000*(1+_actPositions[2]));
crussell21 0:1a5f4c492b1a 33 _linAct4.pulsewidth_us(1000*(1+_actPositions[3]));
crussell21 0:1a5f4c492b1a 34 } else {
crussell21 0:1a5f4c492b1a 35 //change to idle positions
crussell21 0:1a5f4c492b1a 36 _linAct1.pulsewidth_us(1000*(1+_idlePositions[0]));
crussell21 0:1a5f4c492b1a 37 _linAct2.pulsewidth_us(1000*(1+_idlePositions[1]));
crussell21 0:1a5f4c492b1a 38 _linAct3.pulsewidth_us(1000*(1+_idlePositions[2]));
crussell21 0:1a5f4c492b1a 39 _linAct4.pulsewidth_us(1000*(1+_idlePositions[3]));
crussell21 0:1a5f4c492b1a 40 }
crussell21 0:1a5f4c492b1a 41 }
crussell21 0:1a5f4c492b1a 42 }
crussell21 0:1a5f4c492b1a 43
crussell21 0:1a5f4c492b1a 44 void LinearActuatorControl::setIdlePositions(float pos1, float pos2, float pos3, float pos4) {
crussell21 0:1a5f4c492b1a 45 _idlePositions[0] = pos1;
crussell21 0:1a5f4c492b1a 46 _idlePositions[1] = pos2;
crussell21 0:1a5f4c492b1a 47 _idlePositions[2] = pos3;
crussell21 0:1a5f4c492b1a 48 _idlePositions[3] = pos4;
crussell21 0:1a5f4c492b1a 49 }
crussell21 0:1a5f4c492b1a 50
crussell21 0:1a5f4c492b1a 51 void LinearActuatorControl::setManualPositionsDown(float pos1, float pos2, float pos3, float pos4) {
crussell21 0:1a5f4c492b1a 52 _manualPositionsDown[0] = pos1;
crussell21 0:1a5f4c492b1a 53 _manualPositionsDown[1] = pos2;
crussell21 0:1a5f4c492b1a 54 _manualPositionsDown[2] = pos3;
crussell21 0:1a5f4c492b1a 55 _manualPositionsDown[3] = pos4;
crussell21 0:1a5f4c492b1a 56 }
crussell21 0:1a5f4c492b1a 57
crussell21 0:1a5f4c492b1a 58 void LinearActuatorControl::setManualPositionsUp(float pos1, float pos2, float pos3, float pos4) {
crussell21 0:1a5f4c492b1a 59 _manualPositionsUp[0] = pos1;
crussell21 0:1a5f4c492b1a 60 _manualPositionsUp[1] = pos2;
crussell21 0:1a5f4c492b1a 61 _manualPositionsUp[2] = pos3;
crussell21 0:1a5f4c492b1a 62 _manualPositionsUp[3] = pos4;
crussell21 0:1a5f4c492b1a 63 }
crussell21 0:1a5f4c492b1a 64
crussell21 0:1a5f4c492b1a 65 void LinearActuatorControl::move(float pos1, float pos2, float pos3, float pos4) {
crussell21 0:1a5f4c492b1a 66 _actPositions[0] = pos1;
crussell21 0:1a5f4c492b1a 67 _actPositions[1] = pos2;
crussell21 0:1a5f4c492b1a 68 _actPositions[2] = pos3;
crussell21 0:1a5f4c492b1a 69 _actPositions[3] = pos4;
crussell21 0:1a5f4c492b1a 70 refresh();
crussell21 0:1a5f4c492b1a 71 }
crussell21 0:1a5f4c492b1a 72
crussell21 0:1a5f4c492b1a 73 bool LinearActuatorControl::inUserSequence() {
crussell21 0:1a5f4c492b1a 74 if (_controlMode && _runMode) {
crussell21 0:1a5f4c492b1a 75 return true;
crussell21 0:1a5f4c492b1a 76 }
crussell21 0:1a5f4c492b1a 77 return false;
crussell21 0:1a5f4c492b1a 78 }
crussell21 0:1a5f4c492b1a 79
crussell21 0:1a5f4c492b1a 80 float _convertToPulseWidth_us(float input) {
crussell21 0:1a5f4c492b1a 81 return 1000*(1+input);
crussell21 0:1a5f4c492b1a 82 }