joshua Elsdon / Mbed OS DeltaRobotFirmware

Delta Robot example

Dependencies:   BufferedSerial Eigen

Fork of TCPSocket_Example by mbed_example

odrive.h@5:01e1e68309ae, 2018-10-15 (annotated)

Committer:
je310
Date:
Mon Oct 15 18:30:20 2018 +0000
Revision:
5:01e1e68309ae
Parent:
4:778bc352c47f 
testing eigen;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
je310 3:10fa3102c2d7 1 #ifndef ODrive_h
je310 3:10fa3102c2d7 2 #define ODrive_h
je310 3:10fa3102c2d7 3 #include <string>
je310 3:10fa3102c2d7 4 #include <sstream>
je310 3:10fa3102c2d7 5 #include <stdint.h>
je310 3:10fa3102c2d7 6 #include "mbed.h"
je310 3:10fa3102c2d7 7 #include <cstdlib>
je310 3:10fa3102c2d7 8 #include "BufferedSerial.h"
je310 3:10fa3102c2d7 9 class ODrive {
je310 3:10fa3102c2d7 10 public:
je310 3:10fa3102c2d7 11 enum AxisState_t {
je310 3:10fa3102c2d7 12 AXIS_STATE_UNDEFINED = 0, //<! will fall through to idle
je310 3:10fa3102c2d7 13 AXIS_STATE_IDLE = 1, //<! disable PWM and do nothing
je310 3:10fa3102c2d7 14 AXIS_STATE_STARTUP_SEQUENCE = 2, //<! the actual sequence is defined by the config.startup_... flags
je310 3:10fa3102c2d7 15 AXIS_STATE_FULL_CALIBRATION_SEQUENCE = 3, //<! run all calibration procedures, then idle
je310 3:10fa3102c2d7 16 AXIS_STATE_MOTOR_CALIBRATION = 4, //<! run motor calibration
je310 3:10fa3102c2d7 17 AXIS_STATE_SENSORLESS_CONTROL = 5, //<! run sensorless control
je310 3:10fa3102c2d7 18 AXIS_STATE_ENCODER_INDEX_SEARCH = 6, //<! run encoder index search
je310 3:10fa3102c2d7 19 AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7, //<! run encoder offset calibration
je310 3:10fa3102c2d7 20 AXIS_STATE_CLOSED_LOOP_CONTROL = 8 //<! run closed loop control
je310 3:10fa3102c2d7 21 };
je310 3:10fa3102c2d7 22
je310 3:10fa3102c2d7 23 ODrive(BufferedSerial& serial);
je310 3:10fa3102c2d7 24
je310 3:10fa3102c2d7 25 // Commands
je310 3:10fa3102c2d7 26 void SetPosition(int motor_number, float position);
je310 3:10fa3102c2d7 27 void SetPosition(int motor_number, float position, float velocity_feedforward);
je310 3:10fa3102c2d7 28 void SetPosition(int motor_number, float position, float velocity_feedforward, float current_feedforward);
je310 3:10fa3102c2d7 29 void SetVelocity(int motor_number, float velocity);
je310 3:10fa3102c2d7 30 void SetVelocity(int motor_number, float velocity, float current_feedforward);
je310 3:10fa3102c2d7 31
je310 3:10fa3102c2d7 32 void FinishedSending();
je310 3:10fa3102c2d7 33
je310 3:10fa3102c2d7 34 // General params
je310 3:10fa3102c2d7 35 float readFloat();
je310 3:10fa3102c2d7 36 int32_t readInt();
je310 4:778bc352c47f 37 float readBattery();
je310 3:10fa3102c2d7 38
je310 3:10fa3102c2d7 39 // State helper
je310 3:10fa3102c2d7 40 bool run_state(int axis, int requested_state, bool wait);
je310 3:10fa3102c2d7 41 std::string readString();
je310 3:10fa3102c2d7 42
je310 3:10fa3102c2d7 43 BufferedSerial& serial_;
je310 4:778bc352c47f 44 private:
je310 4:778bc352c47f 45
je310 3:10fa3102c2d7 46 };
je310 3:10fa3102c2d7 47
je310 3:10fa3102c2d7 48 #endif //ODrive_h