joshua Elsdon
Delta Robot example
Dependencies: BufferedSerial Eigen
Fork of
TCPSocket_Example
by 
mbed_example
Axis.h@3:10fa3102c2d7, 2018-10-05 (annotated)
- Committer:
- je310
- Date:
- Fri Oct 05 15:57:55 2018 +0000
- Revision:
- 3:10fa3102c2d7
- Child:
- 4:778bc352c47f
Delta firmware using odrives.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| je310 | 3:10fa3102c2d7 | 1 | #ifndef AXIS_H |
| je310 | 3:10fa3102c2d7 | 2 | #define AXIS_H |
| je310 | 3:10fa3102c2d7 | 3 | |
| je310 | 3:10fa3102c2d7 | 4 | class Axis |
| je310 | 3:10fa3102c2d7 | 5 | { |
| je310 | 3:10fa3102c2d7 | 6 | public: |
| je310 | 3:10fa3102c2d7 | 7 | |
| je310 | 3:10fa3102c2d7 | 8 | void Axis(&ODrive od, int ax, DigitalIn homeSwitch,float gearRatio); |
| je310 | 3:10fa3102c2d7 | 9 | void homeAxis(); |
| je310 | 3:10fa3102c2d7 | 10 | void goAngle(float angle); |
| je310 | 3:10fa3102c2d7 | 11 | void goAngleSpeed(float angle, float speed); |
| je310 | 3:10fa3102c2d7 | 12 | |
| je310 | 3:10fa3102c2d7 | 13 | |
| je310 | 3:10fa3102c2d7 | 14 | private: |
| je310 | 3:10fa3102c2d7 | 15 | &Odrive odrive; |
| je310 | 3:10fa3102c2d7 | 16 | int axNum |
| je310 | 3:10fa3102c2d7 | 17 | int homeOffset = 0; |
| je310 | 3:10fa3102c2d7 | 18 | float currentSetPos = 0; |
| je310 | 3:10fa3102c2d7 | 19 | float currentSetVel = 0; |
| je310 | 3:10fa3102c2d7 | 20 | DigitalIn homeSwitch_; |
| je310 | 3:10fa3102c2d7 | 21 | float maxAngle = 2; //roughtly |
| je310 | 3:10fa3102c2d7 | 22 | float gearRatio_ = 3; |
| je310 | 3:10fa3102c2d7 | 23 | |
| je310 | 3:10fa3102c2d7 | 24 | |
| je310 | 3:10fa3102c2d7 | 25 | }; |
| je310 | 3:10fa3102c2d7 | 26 | |
| je310 | 3:10fa3102c2d7 | 27 | |
| je310 | 3:10fa3102c2d7 | 28 | |
| je310 | 3:10fa3102c2d7 | 29 | |
| je310 | 3:10fa3102c2d7 | 30 | |
| je310 | 3:10fa3102c2d7 | 31 | #endif // COMMS_H |