joshua Elsdon / Mbed OS DeltaRobotFirmware

Delta Robot example

Dependencies:   BufferedSerial Eigen

Fork of TCPSocket_Example by mbed_example

Axis.h@4:778bc352c47f, 2018-10-07 (annotated)

Committer:
je310
Date:
Sun Oct 07 19:40:12 2018 +0000
Revision:
4:778bc352c47f
Parent:
3:10fa3102c2d7
Child:
5:01e1e68309ae
can work smoothly, though voltage reading not working;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
je310 3:10fa3102c2d7 1 #ifndef AXIS_H
je310 3:10fa3102c2d7 2 #define AXIS_H
je310 3:10fa3102c2d7 3
je310 4:778bc352c47f 4 #include "odrive.h"
je310 4:778bc352c47f 5 #include "mbed.h"
je310 4:778bc352c47f 6 #include "calibration.h"
je310 4:778bc352c47f 7 #include "comms.h"
je310 4:778bc352c47f 8 #include <string>
je310 4:778bc352c47f 9 #include <sstream>
je310 4:778bc352c47f 10
je310 4:778bc352c47f 11 enum axisName {
je310 4:778bc352c47f 12 AX_A,
je310 4:778bc352c47f 13 AX_B,
je310 4:778bc352c47f 14 AX_C,
je310 4:778bc352c47f 15 };
je310 4:778bc352c47f 16
je310 3:10fa3102c2d7 17 class Axis
je310 3:10fa3102c2d7 18 {
je310 3:10fa3102c2d7 19 public:
je310 3:10fa3102c2d7 20
je310 4:778bc352c47f 21 Axis(ODrive* od, int ax, DigitalIn* homeSwitch, calVals calibration_,axisName indentity);
je310 3:10fa3102c2d7 22 void homeAxis();
je310 3:10fa3102c2d7 23 void goAngle(float angle);
je310 3:10fa3102c2d7 24 void goAngleSpeed(float angle, float speed);
je310 4:778bc352c47f 25 void runState(int requestedState);
je310 4:778bc352c47f 26 DigitalIn* homeSwitch_;
je310 4:778bc352c47f 27 void setMaxVel(float stepsPerSec);
je310 4:778bc352c47f 28 ODrive* odrive;
je310 3:10fa3102c2d7 29
je310 3:10fa3102c2d7 30 private:
je310 4:778bc352c47f 31
je310 4:778bc352c47f 32 int axNum;
je310 4:778bc352c47f 33 int homeOffset;
je310 4:778bc352c47f 34 float currentSetPos;
je310 4:778bc352c47f 35 float currentSetVel;
je310 4:778bc352c47f 36
je310 4:778bc352c47f 37 float maxAngle; //roughtly
je310 4:778bc352c47f 38 float gearRatio_;
je310 4:778bc352c47f 39 float pulse_per_rev;
je310 4:778bc352c47f 40 float pulse_per_rad;
je310 4:778bc352c47f 41 float rotation_offset; // defines the rotational ofset from flat, to be calibrated.
je310 3:10fa3102c2d7 42
je310 3:10fa3102c2d7 43
je310 3:10fa3102c2d7 44 };
je310 3:10fa3102c2d7 45
je310 3:10fa3102c2d7 46
je310 3:10fa3102c2d7 47
je310 3:10fa3102c2d7 48
je310 3:10fa3102c2d7 49
je310 3:10fa3102c2d7 50 #endif // COMMS_H