Test the set param mode
PositionSensor/PositionSensor.h@8:10ae7bc88d6e, 2016-04-13 (annotated)
- Committer:
- benkatz
- Date:
- Wed Apr 13 04:09:56 2016 +0000
- Revision:
- 8:10ae7bc88d6e
- Parent:
- 7:dc5f27756e02
- Child:
- 9:d7eb815cb057
Multi-turn mechanical position, MA700 position sensing over SPI. Placeholder torque controller for cogging/ripple compensation;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benkatz | 0:4e1c4df6aabd | 1 | #ifndef POSITIONSENSOR_H |
benkatz | 0:4e1c4df6aabd | 2 | #define POSITIONSENSOR_H |
benkatz | 0:4e1c4df6aabd | 3 | class PositionSensor { |
benkatz | 0:4e1c4df6aabd | 4 | public: |
benkatz | 0:4e1c4df6aabd | 5 | virtual float GetMechPosition() {return 0.0f;} |
benkatz | 0:4e1c4df6aabd | 6 | virtual float GetElecPosition() {return 0.0f;} |
benkatz | 0:4e1c4df6aabd | 7 | }; |
benkatz | 0:4e1c4df6aabd | 8 | |
benkatz | 0:4e1c4df6aabd | 9 | |
benkatz | 0:4e1c4df6aabd | 10 | class PositionSensorEncoder: public PositionSensor { |
benkatz | 0:4e1c4df6aabd | 11 | public: |
benkatz | 0:4e1c4df6aabd | 12 | PositionSensorEncoder(int CPR, float offset); |
benkatz | 0:4e1c4df6aabd | 13 | virtual float GetMechPosition(); |
benkatz | 0:4e1c4df6aabd | 14 | virtual float GetElecPosition(); |
benkatz | 3:6a0015d88d06 | 15 | virtual float GetMechVelocity(); |
benkatz | 3:6a0015d88d06 | 16 | virtual float GetElecVelocity(); |
benkatz | 0:4e1c4df6aabd | 17 | private: |
benkatz | 0:4e1c4df6aabd | 18 | InterruptIn *ZPulse; |
benkatz | 0:4e1c4df6aabd | 19 | DigitalIn *ZSense; |
benkatz | 1:b8bceb4daed5 | 20 | //DigitalOut *ZTest; |
benkatz | 0:4e1c4df6aabd | 21 | virtual void ZeroEncoderCount(void); |
benkatz | 7:dc5f27756e02 | 22 | virtual void ZeroEncoderCountDown(void); |
benkatz | 7:dc5f27756e02 | 23 | int _CPR, flag, rotations; |
benkatz | 1:b8bceb4daed5 | 24 | //int state; |
benkatz | 7:dc5f27756e02 | 25 | float _offset, MechPosition, dir, test_pos; |
benkatz | 0:4e1c4df6aabd | 26 | }; |
benkatz | 0:4e1c4df6aabd | 27 | |
benkatz | 8:10ae7bc88d6e | 28 | class PositionSensorSPI: public PositionSensor{ |
benkatz | 8:10ae7bc88d6e | 29 | public: |
benkatz | 8:10ae7bc88d6e | 30 | PositionSensorSPI(int CPR, float offset); |
benkatz | 8:10ae7bc88d6e | 31 | virtual float GetMechPosition(); |
benkatz | 8:10ae7bc88d6e | 32 | virtual float GetElecPosition(); |
benkatz | 8:10ae7bc88d6e | 33 | private: |
benkatz | 8:10ae7bc88d6e | 34 | float _offset, MechPosition; |
benkatz | 8:10ae7bc88d6e | 35 | int _CPR, rotations, old_counts; |
benkatz | 8:10ae7bc88d6e | 36 | SPI *spi; |
benkatz | 8:10ae7bc88d6e | 37 | DigitalOut *cs; |
benkatz | 8:10ae7bc88d6e | 38 | }; |
benkatz | 0:4e1c4df6aabd | 39 | #endif |