Mike Gardner / Mbed 2 deprecated LPC1768Template

Template for LPC1768

Dependencies:   Gimbal MLX90620 Socket lwip-eth lwip-sys lwip mbed-rtos mbed

Fork of EkkoEye by EkkoSense

CGimbal.h@53:72f350a6d09c, 2016-04-14 (annotated)

Committer:
Mike
Date:
Thu Apr 14 13:45:38 2016 +0100
Revision:
53:72f350a6d09c
DCW

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Mike 53:72f350a6d09c 1 /*
Mike 53:72f350a6d09c 2 * CGimbal.h
Mike 53:72f350a6d09c 3 *
Mike 53:72f350a6d09c 4 * Created on: 15 Feb 2016
Mike 53:72f350a6d09c 5 * Author: mike
Mike 53:72f350a6d09c 6 */
Mike 53:72f350a6d09c 7 #ifndef CGIMBAL_H_
Mike 53:72f350a6d09c 8 #define CGIMBAL_H_
Mike 53:72f350a6d09c 9
Mike 53:72f350a6d09c 10 #include "mbed.h"
Mike 53:72f350a6d09c 11
Mike 53:72f350a6d09c 12 #define FORWARD 0 // Used for the direction pin
Mike 53:72f350a6d09c 13 #define REVERSE 1 // Used for the direction pin
Mike 53:72f350a6d09c 14 #define CLOCKWISE 0 // Used for the direction pin
Mike 53:72f350a6d09c 15 #define ANTICLOCKWISE 1 // Used for the direction pin
Mike 53:72f350a6d09c 16 #define DFT_STEP_PULSE 0.00002 // 20us is recommended pulse width for most stepper drivers
Mike 53:72f350a6d09c 17 #define X_AXIS 0 // Used for Tour array indexing
Mike 53:72f350a6d09c 18 #define Y_AXIS 1 // Used for Tour array indexing
Mike 53:72f350a6d09c 19 #define NUM_AXES 2 // Used for Tour array indexing
Mike 53:72f350a6d09c 20 #define DEGREES_PER_STEP .1125 // 0.45 & 200 steps per revolution give 360/3200 degrees per step (1/16microsteps)
Mike 53:72f350a6d09c 21 #define DFT_STEP_INTERVAL 250 // Normal time interval between pulses (5ms = 250 * 20us)
Mike 53:72f350a6d09c 22 #define HOME_STEP_INTERVAL 500 // Moves more slowly when homing (10ms = 250 * 20us)
Mike 53:72f350a6d09c 23 #define MAX_TOUR 10 // Maximum number of way-points that can be performed in a single tour
Mike 53:72f350a6d09c 24
Mike 53:72f350a6d09c 25 class CGimbal
Mike 53:72f350a6d09c 26 {
Mike 53:72f350a6d09c 27 public:
Mike 53:72f350a6d09c 28
Mike 53:72f350a6d09c 29 DigitalOut * m_pXStepPin; // Pointer to the X axis step pin
Mike 53:72f350a6d09c 30 DigitalOut * m_pXDirPin; // Pointer to the Y axis step pin
Mike 53:72f350a6d09c 31 DigitalOut * m_pYStepPin; // Pointer to the X axis direction pin
Mike 53:72f350a6d09c 32 DigitalOut * m_pYDirPin; // Pointer to the Y axis direction pin
Mike 53:72f350a6d09c 33
Mike 53:72f350a6d09c 34 // Constructor
Mike 53:72f350a6d09c 35 CGimbal(DigitalOut * pXStepPin, DigitalOut * pXDirPin, DigitalOut * pYStepPin, DigitalOut * pYDirPin);
Mike 53:72f350a6d09c 36
Mike 53:72f350a6d09c 37 // Destructor
Mike 53:72f350a6d09c 38 ~CGimbal();
Mike 53:72f350a6d09c 39
Mike 53:72f350a6d09c 40 void Zero(void);
Mike 53:72f350a6d09c 41 void Home(void); // Move to the Home position
Mike 53:72f350a6d09c 42 int MoveRel(); // Move (x, y) relative to current position
Mike 53:72f350a6d09c 43 int MoveAbs(float x, float y); // Move to Absolute (x,y) position
Mike 53:72f350a6d09c 44 int RotateAbs(float xAngle, float yAngle); // Rotate to Absolute (x,y) angle in degrees
Mike 53:72f350a6d09c 45 int TourPoint(int n); // Execute a tour using n stored waypoints
Mike 53:72f350a6d09c 46 void MeanderScan(void); // Perform a full sweep at increments of (60, 15) degrees
Mike 53:72f350a6d09c 47
Mike 53:72f350a6d09c 48 int m_StepInterval; // The time in 10us increments between each Step pulse (ie 100 = 1ms)
Mike 53:72f350a6d09c 49 int m_AbsoluteXPos; // The current motor x axis position in steps (800 per revolution)
Mike 53:72f350a6d09c 50 int m_AbsoluteYPos; // The current motor y axis position in steps (800 per revolution)
Mike 53:72f350a6d09c 51
Mike 53:72f350a6d09c 52 float m_AbsoluteXAngle; // The current motor x axis angle in degrees
Mike 53:72f350a6d09c 53 float m_AbsoluteYAngle; // The current motor y axis angle in degrees
Mike 53:72f350a6d09c 54
Mike 53:72f350a6d09c 55 int m_xSteps; // Tracks the number of required x steps (+/-) when moving relative or absolute
Mike 53:72f350a6d09c 56 int m_ySteps; // Tracks the number of required y steps (+/-) when moving relative or absolute
Mike 53:72f350a6d09c 57 int m_xPulses; // Tracks the number of required x pulses when moving (always a positive value)
Mike 53:72f350a6d09c 58 int m_yPulses; // Tracks the number of required y pulses when moving (always a positive value)
Mike 53:72f350a6d09c 59 int m_xDir; // X Direction: Used internally when moving, calculated from m_xSteps 1 to move ccw, 0 to move cw
Mike 53:72f350a6d09c 60 int m_yDir; // Y Direction: Used internally when moving, calculated from m_xSteps 1 to move ccw, 0 to move cw
Mike 53:72f350a6d09c 61
Mike 53:72f350a6d09c 62 int m_NumWaypoints;
Mike 53:72f350a6d09c 63 float m_TourPoints [NUM_AXES] [MAX_TOUR]; // Used to store the x,y way-points received from the server
Mike 53:72f350a6d09c 64 float m_PointTemperature [MAX_TOUR]; // Used to store the x,y way-points received from the server
Mike 53:72f350a6d09c 65
Mike 53:72f350a6d09c 66
Mike 53:72f350a6d09c 67 int m_TickCount; // Used to track the number of 10us Ticks that have occurred to ensure consistent motor speed
Mike 53:72f350a6d09c 68
Mike 53:72f350a6d09c 69 };
Mike 53:72f350a6d09c 70
Mike 53:72f350a6d09c 71
Mike 53:72f350a6d09c 72
Mike 53:72f350a6d09c 73
Mike 53:72f350a6d09c 74 #endif /* CGIMBAL_H_ */