Joseph Bradshaw / Axis

C++ class for controlling DC motor with encoder feedback. Dependencies include LS7366LIB, MotCon, and PID.

Dependencies:   LS7366LIB MotCon2 PID

Dependents:   LPC1768_6axis_Arm

Axis.cpp@4:4079f92f9c26, 2015-10-07 (annotated)

Committer:
jebradshaw
Date:
Wed Oct 07 17:32:13 2015 +0000
Revision:
4:4079f92f9c26
Parent:
3:71447d4fb4f0
Child:
5:79dcaa63700c
Working 6 axis controller;  To do:  home function w/ both limit switch and current limit check

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jebradshaw 0:cf7192f9f99a 1
jebradshaw 0:cf7192f9f99a 2 #include "Axis.h"
jebradshaw 0:cf7192f9f99a 3 #include "LS7366.h"
jebradshaw 0:cf7192f9f99a 4 #include "MotCon.h"
jebradshaw 0:cf7192f9f99a 5 #include "PID.h"
jebradshaw 0:cf7192f9f99a 6
jebradshaw 2:653433f4ee72 7 Axis::Axis(SPI& spi, PinName cs, PinName pwm, PinName dir, PinName analog, int* limit, float totalCnts): _spi(spi), _cs(cs), _pwm(pwm), _dir(dir) , _analog(analog){
jebradshaw 4:4079f92f9c26 8 this->_cs = 1; // Initialize chip select as off (high)
jebradshaw 4:4079f92f9c26 9 this->_pwm = 0.0;
jebradshaw 4:4079f92f9c26 10 this->_dir = 0;
jebradshaw 4:4079f92f9c26 11 this->co = 0.0;
jebradshaw 4:4079f92f9c26 12 this->Tdelay = .01;
jebradshaw 4:4079f92f9c26 13 this->Pk = 120.0; //80.0; //rough gains, seem to work well but could use tuning
jebradshaw 4:4079f92f9c26 14 this->Ik = 55.0; //35.0;
jebradshaw 4:4079f92f9c26 15 this->Dk = 0.0;
jebradshaw 4:4079f92f9c26 16 this->set_point = 0.0;
jebradshaw 4:4079f92f9c26 17 this->set_point_last = 0.0;
jebradshaw 4:4079f92f9c26 18 this->pos = 0.0;
jebradshaw 4:4079f92f9c26 19 this->vel = 0.0;
jebradshaw 4:4079f92f9c26 20 this->acc = 0.0;
jebradshaw 4:4079f92f9c26 21 this->pos_cmd = 0.0;
jebradshaw 4:4079f92f9c26 22 this->vel_cmd = 0.0;
jebradshaw 4:4079f92f9c26 23 this->vel_avg_cmd = 0;
jebradshaw 4:4079f92f9c26 24 this->acc_cmd = 0.0;
jebradshaw 4:4079f92f9c26 25 this->vel_max = 2700.0 * Tdelay; //counts * Tdelay
jebradshaw 4:4079f92f9c26 26 this->acc_max = 1200.0 * Tdelay; //counts/sec/sec * Tdelay
jebradshaw 4:4079f92f9c26 27 this->p_higher = 0.0;
jebradshaw 4:4079f92f9c26 28 this->p_lower = 0.0;
jebradshaw 4:4079f92f9c26 29 this->vel_accum = 0.0;
jebradshaw 4:4079f92f9c26 30 this->moveTime = 0.0;
jebradshaw 4:4079f92f9c26 31 this->totalCounts = totalCnts;
jebradshaw 4:4079f92f9c26 32 this->enc = 0;
jebradshaw 4:4079f92f9c26 33 this->moveStatus = 0; //status flag to indicate state of profile movement
jebradshaw 4:4079f92f9c26 34 this->moveState = 0; //used for state machine in movement profiles
jebradshaw 4:4079f92f9c26 35 this->debug = 0;
jebradshaw 4:4079f92f9c26 36 this->update.attach(this, &Axis::paramUpdate, Tdelay);
jebradshaw 4:4079f92f9c26 37 this->axisState = 0;
jebradshaw 0:cf7192f9f99a 38
jebradshaw 4:4079f92f9c26 39 this->pid = new PID(0.0,0.0,0.0,Tdelay); //Kc, Ti, Td, interval
jebradshaw 4:4079f92f9c26 40 this->ls7366 = new LS7366(spi, cs); //LS7366 encoder interface IC
jebradshaw 4:4079f92f9c26 41 this->motcon = new MotCon(pwm, dir);
jebradshaw 4:4079f92f9c26 42 this->ptr_limit = limit;
jebradshaw 0:cf7192f9f99a 43
jebradshaw 0:cf7192f9f99a 44 //start at 0
jebradshaw 0:cf7192f9f99a 45 this->ls7366->LS7366_reset_counter();
jebradshaw 0:cf7192f9f99a 46 this->ls7366->LS7366_quad_mode_x4();
jebradshaw 0:cf7192f9f99a 47 this->ls7366->LS7366_write_DTR(0);
jebradshaw 0:cf7192f9f99a 48
jebradshaw 0:cf7192f9f99a 49 this->set_point = 0.0;
jebradshaw 0:cf7192f9f99a 50 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 51 this->enc = this->ls7366->LS7366_read_counter(); //update class variable
jebradshaw 0:cf7192f9f99a 52 }
jebradshaw 0:cf7192f9f99a 53
jebradshaw 2:653433f4ee72 54 void Axis::init(void){
jebradshaw 0:cf7192f9f99a 55 //resets the controllers internals
jebradshaw 0:cf7192f9f99a 56 this->pid->reset();
jebradshaw 0:cf7192f9f99a 57
jebradshaw 0:cf7192f9f99a 58 //Encoder counts limit
jebradshaw 2:653433f4ee72 59 this->pid->setInputLimits(-this->totalCounts, this->totalCounts);
jebradshaw 0:cf7192f9f99a 60 //Pwm output from 0.0 to 1.0
jebradshaw 0:cf7192f9f99a 61 this->pid->setOutputLimits(-1.0, 1.0);
jebradshaw 0:cf7192f9f99a 62 //If there's a bias.
jebradshaw 0:cf7192f9f99a 63 this->pid->setBias(0.0);
jebradshaw 0:cf7192f9f99a 64 this->pid->setMode(AUTO_MODE);
jebradshaw 0:cf7192f9f99a 65
jebradshaw 0:cf7192f9f99a 66 this->pid->setInterval(this->Tdelay);
jebradshaw 0:cf7192f9f99a 67
jebradshaw 0:cf7192f9f99a 68 //start at 0
jebradshaw 0:cf7192f9f99a 69 this->ls7366->LS7366_reset_counter();
jebradshaw 0:cf7192f9f99a 70 this->ls7366->LS7366_quad_mode_x4();
jebradshaw 0:cf7192f9f99a 71 this->ls7366->LS7366_write_DTR(0);
jebradshaw 0:cf7192f9f99a 72
jebradshaw 0:cf7192f9f99a 73 this->set_point = 0.0;
jebradshaw 0:cf7192f9f99a 74 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 75 this->enc = this->ls7366->LS7366_read_counter(); //update class variable
jebradshaw 0:cf7192f9f99a 76
jebradshaw 0:cf7192f9f99a 77 //resets the controllers internals
jebradshaw 0:cf7192f9f99a 78 this->pid->reset();
jebradshaw 0:cf7192f9f99a 79 //start at 0
jebradshaw 0:cf7192f9f99a 80 this->set_point = 0.0;
jebradshaw 0:cf7192f9f99a 81 this->pid->setSetPoint(0);
jebradshaw 0:cf7192f9f99a 82
jebradshaw 0:cf7192f9f99a 83 this->pid->setTunings(this->Pk, this->Ik, this->Dk); //turns on controller
jebradshaw 0:cf7192f9f99a 84 }
jebradshaw 0:cf7192f9f99a 85
jebradshaw 0:cf7192f9f99a 86 void Axis::paramUpdate(void){
jebradshaw 0:cf7192f9f99a 87 //testOut = 1;
jebradshaw 0:cf7192f9f99a 88 this->enc = this->ls7366->LS7366_read_counter();
jebradshaw 0:cf7192f9f99a 89 this->pos = (float)this->enc; // * this->countsPerDeg * PI/180.0; //times counts/degree and convert to radians
jebradshaw 0:cf7192f9f99a 90
jebradshaw 0:cf7192f9f99a 91 this->vel = (this->pos - this->pos_last) * this->Tdelay;
jebradshaw 0:cf7192f9f99a 92 this->acc = (this->vel - this->vel_last);
jebradshaw 0:cf7192f9f99a 93
jebradshaw 0:cf7192f9f99a 94 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 95
jebradshaw 0:cf7192f9f99a 96 //Update the process variable.
jebradshaw 0:cf7192f9f99a 97 this->pid->setProcessValue(this->pos);
jebradshaw 0:cf7192f9f99a 98 //Set the new output.
jebradshaw 0:cf7192f9f99a 99 this->co = this->pid->compute();
jebradshaw 0:cf7192f9f99a 100
jebradshaw 4:4079f92f9c26 101 if(this->axisState)
jebradshaw 4:4079f92f9c26 102 this->motcon->mot_control(this->co); //send controller output to PWM motor control command
jebradshaw 4:4079f92f9c26 103 else{
jebradshaw 4:4079f92f9c26 104 this->co = 0.0;
jebradshaw 4:4079f92f9c26 105 this->motcon->mot_control(0.0); //turn off motor command
jebradshaw 4:4079f92f9c26 106 }
jebradshaw 4:4079f92f9c26 107
jebradshaw 0:cf7192f9f99a 108 this->pos_last = this->pos;
jebradshaw 0:cf7192f9f99a 109 this->vel_last = this->vel;
jebradshaw 0:cf7192f9f99a 110 this->set_point_last = this->set_point;
jebradshaw 0:cf7192f9f99a 111 //testOut = 0;
jebradshaw 0:cf7192f9f99a 112 }
jebradshaw 0:cf7192f9f99a 113
jebradshaw 2:653433f4ee72 114 void Axis::center(void){
jebradshaw 2:653433f4ee72 115 this->pid->setInputLimits(-this->totalCounts, this->totalCounts);
jebradshaw 2:653433f4ee72 116
jebradshaw 2:653433f4ee72 117 while(*this->ptr_limit == 1){ // && ({
jebradshaw 0:cf7192f9f99a 118 this->set_point += 100;
jebradshaw 0:cf7192f9f99a 119 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 120 wait(.05);
jebradshaw 0:cf7192f9f99a 121 if(this->debug)
jebradshaw 2:653433f4ee72 122 printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read());
jebradshaw 0:cf7192f9f99a 123 }
jebradshaw 2:653433f4ee72 124 wait(.2);
jebradshaw 0:cf7192f9f99a 125 this->set_point -= 1000;
jebradshaw 0:cf7192f9f99a 126 this->pid->setSetPoint(this->set_point);
jebradshaw 2:653433f4ee72 127 wait(.6);
jebradshaw 1:cd249816dba8 128
jebradshaw 1:cd249816dba8 129 while(*this->ptr_limit == 1){
jebradshaw 0:cf7192f9f99a 130 this->set_point += 10;
jebradshaw 0:cf7192f9f99a 131 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 132 wait(.02);
jebradshaw 0:cf7192f9f99a 133 if(this->debug)
jebradshaw 2:653433f4ee72 134 printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read());
jebradshaw 0:cf7192f9f99a 135 }
jebradshaw 0:cf7192f9f99a 136
jebradshaw 0:cf7192f9f99a 137 this->ls7366->LS7366_write_DTR(0); //zero encoder channel
jebradshaw 0:cf7192f9f99a 138 this->set_point = 0.0;
jebradshaw 0:cf7192f9f99a 139 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 140
jebradshaw 2:653433f4ee72 141 this->pid->setInputLimits(-(this->totalCounts)/2.0, 0.0); //reset span limits
jebradshaw 2:653433f4ee72 142 for(int positionCmd = 0;positionCmd > -this->totalCounts/2.0;positionCmd-=30){
jebradshaw 0:cf7192f9f99a 143 this->set_point = positionCmd; //move arm to center
jebradshaw 0:cf7192f9f99a 144 wait(.01);
jebradshaw 0:cf7192f9f99a 145 if(this->debug)
jebradshaw 2:653433f4ee72 146 printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read());
jebradshaw 0:cf7192f9f99a 147 }
jebradshaw 2:653433f4ee72 148 this->set_point = -(this->totalCounts)/2.0;
jebradshaw 0:cf7192f9f99a 149 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 150
jebradshaw 0:cf7192f9f99a 151 //let PID settle to set point
jebradshaw 0:cf7192f9f99a 152 while((this->enc > (this->set_point + 100)) || (this->enc < (this->set_point - 100))){
jebradshaw 2:653433f4ee72 153 if(this->debug)
jebradshaw 2:653433f4ee72 154 printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read());
jebradshaw 0:cf7192f9f99a 155 wait(.01);
jebradshaw 0:cf7192f9f99a 156 }
jebradshaw 0:cf7192f9f99a 157 //pc.printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f Pk=%.2f Ik=%.2f vel=%.3f acc=%.3f\r\n", t.read(), this->set_point, this->co, this->enc, this->pos, this->Pk, this->Ik, this->vel, this->acc);
jebradshaw 0:cf7192f9f99a 158
jebradshaw 0:cf7192f9f99a 159 this->ls7366->LS7366_write_DTR(0); //zero encoder channel
jebradshaw 0:cf7192f9f99a 160 this->set_point = 0.0;
jebradshaw 0:cf7192f9f99a 161 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 162
jebradshaw 2:653433f4ee72 163 this->pid->setInputLimits(-(this->totalCounts)/2.0, (this->totalCounts)/2.0); //reset span limits
jebradshaw 0:cf7192f9f99a 164 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 165
jebradshaw 2:653433f4ee72 166 if(this->debug)
jebradshaw 2:653433f4ee72 167 printf("HOME END:T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read());
jebradshaw 0:cf7192f9f99a 168 // pc.printf("End Home\r\n\r\n");
jebradshaw 0:cf7192f9f99a 169 }
jebradshaw 0:cf7192f9f99a 170
jebradshaw 2:653433f4ee72 171 void Axis::moveUpdate(void){
jebradshaw 2:653433f4ee72 172
jebradshaw 2:653433f4ee72 173 if(*this->ptr_limit == 0){
jebradshaw 2:653433f4ee72 174 this->moveState = 4; //terminate the move
jebradshaw 2:653433f4ee72 175 printf("\r\nLimit reached on axis!\r\n");
jebradshaw 2:653433f4ee72 176 }
jebradshaw 2:653433f4ee72 177 if(this->debug)
jebradshaw 2:653433f4ee72 178 printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read());
jebradshaw 2:653433f4ee72 179
jebradshaw 0:cf7192f9f99a 180 switch(this->moveState){
jebradshaw 0:cf7192f9f99a 181 case 0:
jebradshaw 0:cf7192f9f99a 182 break;
jebradshaw 0:cf7192f9f99a 183
jebradshaw 0:cf7192f9f99a 184 //accelerate
jebradshaw 0:cf7192f9f99a 185 case 1:
jebradshaw 0:cf7192f9f99a 186 //testOut = 1;
jebradshaw 0:cf7192f9f99a 187 this->vel_accum += this->acc_cmd * this->Tdelay; //add acceleration to the velocity accumulator
jebradshaw 0:cf7192f9f99a 188 if(this->vel_avg_cmd > 0.0){ //check the sign of the movement
jebradshaw 0:cf7192f9f99a 189 if(this->vel_accum >= this->vel_cmd) //if the accumulator reaches or exceeds the velocity command
jebradshaw 0:cf7192f9f99a 190 this->vel_accum = this->vel_cmd; // only add the velocity command to the accumulator
jebradshaw 0:cf7192f9f99a 191 }
jebradshaw 0:cf7192f9f99a 192 else{ //if the sign was negative
jebradshaw 0:cf7192f9f99a 193 if(this->vel_accum <= this->vel_cmd)
jebradshaw 0:cf7192f9f99a 194 this->vel_accum = this->vel_cmd;
jebradshaw 0:cf7192f9f99a 195 }
jebradshaw 0:cf7192f9f99a 196 //testOut = 0;
jebradshaw 0:cf7192f9f99a 197
jebradshaw 0:cf7192f9f99a 198 this->set_point += this->vel_accum;
jebradshaw 0:cf7192f9f99a 199 //pc.printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f vel=%.3f acc=%.3f vel_accum=%.2f accelCnt=%.2f \r\n", t.read(), con0.set_point, con0.co, con0.enc, con0.pos, con0.vel, con0.acc, vel_accum, accelCnt);
jebradshaw 0:cf7192f9f99a 200 //pc.printf("acc_up,%.2f,%.3f,%.1f,%.3f,%.3f,%.2f,%.2f\r\n", this->t.read(), this->set_point, this->pos, this->vel, this->acc, this->vel_accum, this->acc_cmd);
jebradshaw 0:cf7192f9f99a 201
jebradshaw 0:cf7192f9f99a 202 if(this->t.read()>=(this->moveTime/3.0) || (abs(this->vel_accum) > abs(this->vel_cmd)))
jebradshaw 0:cf7192f9f99a 203 this->moveState = 2;
jebradshaw 0:cf7192f9f99a 204 break;
jebradshaw 0:cf7192f9f99a 205
jebradshaw 0:cf7192f9f99a 206 //constant velocity
jebradshaw 0:cf7192f9f99a 207 case 2:
jebradshaw 0:cf7192f9f99a 208 //testOut = 1;
jebradshaw 0:cf7192f9f99a 209 //this->vel_accum += this->vel_cmd * this->Tdelay;
jebradshaw 0:cf7192f9f99a 210 this->set_point += this->vel_cmd;
jebradshaw 0:cf7192f9f99a 211 //testOut = 0;
jebradshaw 0:cf7192f9f99a 212 //pc.printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f vel=%.3f acc=%.3f vel_accum=%.2f accelCnt=%.2f \r\n", t.read(), con0.set_point, con0.co, con0.enc, con0.pos, con0.vel, con0.acc, vel_accum, accelCnt);
jebradshaw 0:cf7192f9f99a 213 //pc.printf("vel_cn,%.2f,%.3f,%.1f,%.3f,%.3f,%.2f,%.2f\r\n", this->t.read(), this->set_point, this->pos, this->vel, this->acc, this->vel_accum, this->acc_cmd);
jebradshaw 0:cf7192f9f99a 214
jebradshaw 0:cf7192f9f99a 215 if(this->t.read()>=(2.0/3.0 * this->moveTime))
jebradshaw 0:cf7192f9f99a 216 this->moveState = 3;
jebradshaw 0:cf7192f9f99a 217 break;
jebradshaw 0:cf7192f9f99a 218
jebradshaw 0:cf7192f9f99a 219 //decelerate
jebradshaw 0:cf7192f9f99a 220 case 3:
jebradshaw 0:cf7192f9f99a 221 this->vel_accum -= this->acc_cmd * this->Tdelay;
jebradshaw 0:cf7192f9f99a 222
jebradshaw 0:cf7192f9f99a 223 this->set_point += this->vel_accum; //ramp down velocity by acceleration
jebradshaw 0:cf7192f9f99a 224 //pc.printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f vel=%.3f acc=%.3f vel_accum=%.2f accelCnt=%.2f \r\n", t.read(), con0.set_point, con0.co, con0.enc, con0.pos, con0.vel, con0.acc, vel_accum, accelCnt);
jebradshaw 0:cf7192f9f99a 225 //pc.printf("acc_dn,%.2f,%.3f,%.1f,%.3f,%.3f,%.2f,%.2f\r\n", this->t.read(), this->set_point, this->pos, this->vel, this->acc, this->vel_accum, this->acc_cmd);
jebradshaw 0:cf7192f9f99a 226
jebradshaw 0:cf7192f9f99a 227 if(this->vel_avg_cmd > 0.0){
jebradshaw 1:cd249816dba8 228 if(this->pos_cmd <= this->pos){
jebradshaw 1:cd249816dba8 229 //finish with position command
jebradshaw 1:cd249816dba8 230 this->set_point = this->pos_cmd;
jebradshaw 0:cf7192f9f99a 231 this->moveState = 4;
jebradshaw 1:cd249816dba8 232 }
jebradshaw 0:cf7192f9f99a 233 }
jebradshaw 0:cf7192f9f99a 234 else{
jebradshaw 1:cd249816dba8 235 if(this->pos_cmd >= this->pos){
jebradshaw 1:cd249816dba8 236 //finish with position command
jebradshaw 1:cd249816dba8 237 this->set_point = this->pos_cmd;
jebradshaw 1:cd249816dba8 238 this->moveState = 4;
jebradshaw 1:cd249816dba8 239 }
jebradshaw 0:cf7192f9f99a 240 }
jebradshaw 0:cf7192f9f99a 241
jebradshaw 0:cf7192f9f99a 242 if(this->t.read()>=this->moveTime){
jebradshaw 1:cd249816dba8 243 //finish with position command
jebradshaw 1:cd249816dba8 244 this->set_point = this->pos_cmd;
jebradshaw 0:cf7192f9f99a 245 this->moveState = 4;
jebradshaw 0:cf7192f9f99a 246 }
jebradshaw 0:cf7192f9f99a 247 break;
jebradshaw 0:cf7192f9f99a 248
jebradshaw 0:cf7192f9f99a 249 case 4:
jebradshaw 0:cf7192f9f99a 250 this->moveProfile.detach(); //turn off the trapazoidal update ticker
jebradshaw 0:cf7192f9f99a 251 this->t.stop();
jebradshaw 0:cf7192f9f99a 252 this->moveState = 0;
jebradshaw 0:cf7192f9f99a 253 break;
jebradshaw 0:cf7192f9f99a 254 }//switch moveStatus
jebradshaw 0:cf7192f9f99a 255 return;
jebradshaw 0:cf7192f9f99a 256 }
jebradshaw 0:cf7192f9f99a 257
jebradshaw 0:cf7192f9f99a 258 // position - encoder position to move to
jebradshaw 0:cf7192f9f99a 259 // time - duration of the movement
jebradshaw 0:cf7192f9f99a 260 void Axis::moveTrapezoid(float positionCmd, float time){
jebradshaw 0:cf7192f9f99a 261 this->pos_cmd = positionCmd;
jebradshaw 0:cf7192f9f99a 262 this->moveTime = time;
jebradshaw 4:4079f92f9c26 263 float enc_distance = this->pos_cmd - (float)this->enc;// * 1.0/con0.countsPerDeg * 180.0/PI;
jebradshaw 0:cf7192f9f99a 264
jebradshaw 0:cf7192f9f99a 265 this->vel_avg_cmd = enc_distance / time;
jebradshaw 0:cf7192f9f99a 266 this->vel_cmd = 1.5 * this->vel_avg_cmd * this->Tdelay;
jebradshaw 0:cf7192f9f99a 267 this->acc_cmd = 4.5 * (enc_distance / (this->moveTime * this->moveTime)) * this->Tdelay;
jebradshaw 0:cf7192f9f99a 268
jebradshaw 0:cf7192f9f99a 269 //pc.printf("tx=%f encdist=%.3f vAvg=%.3f vMax=%.3f Acc=%.3f \r\n", this->moveTime, enc_distance,this->vel_avg_cmd,this->vel_cmd,this->acc_cmd);
jebradshaw 0:cf7192f9f99a 270
jebradshaw 0:cf7192f9f99a 271 //establish encoder velocities and accelerations for position control per Tdelay
jebradshaw 0:cf7192f9f99a 272 this->vel_accum = 0.0;
jebradshaw 0:cf7192f9f99a 273
jebradshaw 0:cf7192f9f99a 274 // this->set_point = this->pos;
jebradshaw 0:cf7192f9f99a 275 this->moveState = 1;
jebradshaw 0:cf7192f9f99a 276 this->t.reset();
jebradshaw 0:cf7192f9f99a 277 this->t.start();
jebradshaw 0:cf7192f9f99a 278 this->moveProfile.attach(this, &Axis::moveUpdate, this->Tdelay);
jebradshaw 0:cf7192f9f99a 279 }
jebradshaw 2:653433f4ee72 280
jebradshaw 4:4079f92f9c26 281 float Axis::readCurrent(void){
jebradshaw 4:4079f92f9c26 282 motCurrent = this->_analog.read() * 3.3;
jebradshaw 4:4079f92f9c26 283 return motCurrent;
jebradshaw 2:653433f4ee72 284 }
jebradshaw 2:653433f4ee72 285
jebradshaw 2:653433f4ee72 286 void Axis::axisOff(void){
jebradshaw 4:4079f92f9c26 287 this->co = 0;
jebradshaw 2:653433f4ee72 288 this->axisState = 0;
jebradshaw 2:653433f4ee72 289 }
jebradshaw 2:653433f4ee72 290
jebradshaw 2:653433f4ee72 291 void Axis::axisOn(void){
jebradshaw 4:4079f92f9c26 292 this->co = 0.0;
jebradshaw 4:4079f92f9c26 293 this->pid->reset();
jebradshaw 4:4079f92f9c26 294 //start at 0
jebradshaw 4:4079f92f9c26 295 this->set_point = 0.0;
jebradshaw 4:4079f92f9c26 296 this->pid->setSetPoint(0);
jebradshaw 4:4079f92f9c26 297
jebradshaw 4:4079f92f9c26 298 this->pid->setTunings(this->Pk, this->Ik, this->Dk); //turns on controller
jebradshaw 2:653433f4ee72 299 this->axisState = 1;
jebradshaw 2:653433f4ee72 300 }