Diff: Axis.h

Revision:

4:778bc352c47f

Parent:

3:10fa3102c2d7

Child:

5:01e1e68309ae

--- a/Axis.h	Fri Oct 05 15:57:55 2018 +0000
+++ b/Axis.h	Sun Oct 07 19:40:12 2018 +0000
@@ -1,25 +1,44 @@
 #ifndef AXIS_H
 #define AXIS_H
 
+#include "odrive.h"
+#include "mbed.h"
+#include "calibration.h"
+#include "comms.h"
+#include <string>
+#include <sstream>
+
+enum axisName {
+    AX_A,
+    AX_B,
+    AX_C,
+};
+
 class Axis
 {
 public:
 
-    void   Axis(&ODrive od, int ax, DigitalIn homeSwitch,float gearRatio);
+    Axis(ODrive* od, int ax, DigitalIn* homeSwitch, calVals calibration_,axisName indentity);
     void   homeAxis();
     void   goAngle(float angle);
     void  goAngleSpeed(float angle, float speed);
-
+    void runState(int requestedState);
+    DigitalIn* homeSwitch_;
+    void setMaxVel(float stepsPerSec);
+    ODrive* odrive;
 
 private:
-    &Odrive odrive;
-    int axNum
-    int homeOffset = 0;
-    float currentSetPos = 0;
-    float currentSetVel = 0;
-    DigitalIn homeSwitch_;
-    float maxAngle = 2; //roughtly
-    float gearRatio_ = 3;
+    
+    int axNum;
+    int homeOffset;
+    float currentSetPos;
+    float currentSetVel;
+
+    float maxAngle; //roughtly
+    float gearRatio_;
+    float pulse_per_rev;
+    float pulse_per_rad;
+    float rotation_offset; // defines the rotational ofset from flat, to be calibrated.
 
 
 };