joshua Elsdon / Mbed OS DeltaRobotFirmware

Delta Robot example

Dependencies:   BufferedSerial Eigen

Fork of TCPSocket_Example by mbed_example

Axis.h

Committer:
je310
Date:
2018-10-05
Revision:
3:10fa3102c2d7
Child:
4:778bc352c47f

File content as of revision 3:10fa3102c2d7:

#ifndef AXIS_H
#define AXIS_H

class Axis
{
public:

    void   Axis(&ODrive od, int ax, DigitalIn homeSwitch,float gearRatio);
    void   homeAxis();
    void   goAngle(float angle);
    void  goAngleSpeed(float angle, float speed);


private:
    &Odrive odrive;
    int axNum
    int homeOffset = 0;
    float currentSetPos = 0;
    float currentSetVel = 0;
    DigitalIn homeSwitch_;
    float maxAngle = 2; //roughtly
    float gearRatio_ = 3;


};





#endif // COMMS_H