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@11:93d924320ddc, 2016-11-15 (annotated)

Committer:
jebradshaw
Date:
Tue Nov 15 15:41:33 2016 +0000
Revision:
11:93d924320ddc
Parent:
10:32faca5a2577
Child:
12:b80cc2e27bdb
Latest Axis class library as of 20161115

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 10:32faca5a2577 7 Axis::Axis(SPI& spi, PinName cs, PinName pwm, PinName dir, PinName analog, int* limit): _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 10:32faca5a2577 13 this->Pk = 140.0; //120.0; //rough gains, seem to work well but could use tuning
jebradshaw 10:32faca5a2577 14 this->Ik = 95.0; //75.0;
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 8:7e399d7c990d 21 this->stat = -1;
jebradshaw 4:4079f92f9c26 22 this->pos_cmd = 0.0;
jebradshaw 4:4079f92f9c26 23 this->vel_cmd = 0.0;
jebradshaw 4:4079f92f9c26 24 this->vel_avg_cmd = 0;
jebradshaw 4:4079f92f9c26 25 this->acc_cmd = 0.0;
jebradshaw 4:4079f92f9c26 26 this->vel_max = 2700.0 * Tdelay; //counts * Tdelay
jebradshaw 4:4079f92f9c26 27 this->acc_max = 1200.0 * Tdelay; //counts/sec/sec * Tdelay
jebradshaw 4:4079f92f9c26 28 this->p_higher = 0.0;
jebradshaw 4:4079f92f9c26 29 this->p_lower = 0.0;
jebradshaw 4:4079f92f9c26 30 this->vel_accum = 0.0;
jebradshaw 4:4079f92f9c26 31 this->moveTime = 0.0;
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 5:79dcaa63700c 37 this->axisState = 0;
jebradshaw 5:79dcaa63700c 38 this->mot_I_lim = .35;
jebradshaw 7:d0458137d6e0 39 this->motInvert = 0;
jebradshaw 7:d0458137d6e0 40 this->dataFormat = 'r'; //default is radians
jebradshaw 8:7e399d7c990d 41 // this->ctsPerDeg = cpd; //update counts per degree passed from constructor
jebradshaw 0:cf7192f9f99a 42
jebradshaw 4:4079f92f9c26 43 this->pid = new PID(0.0,0.0,0.0,Tdelay); //Kc, Ti, Td, interval
jebradshaw 4:4079f92f9c26 44 this->ls7366 = new LS7366(spi, cs); //LS7366 encoder interface IC
jebradshaw 4:4079f92f9c26 45 this->motcon = new MotCon(pwm, dir);
jebradshaw 4:4079f92f9c26 46 this->ptr_limit = limit;
jebradshaw 0:cf7192f9f99a 47
jebradshaw 0:cf7192f9f99a 48 //start at 0
jebradshaw 0:cf7192f9f99a 49 this->ls7366->LS7366_reset_counter();
jebradshaw 0:cf7192f9f99a 50 this->ls7366->LS7366_quad_mode_x4();
jebradshaw 0:cf7192f9f99a 51 this->ls7366->LS7366_write_DTR(0);
jebradshaw 0:cf7192f9f99a 52
jebradshaw 0:cf7192f9f99a 53 this->set_point = 0.0;
jebradshaw 0:cf7192f9f99a 54 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 55 this->enc = this->ls7366->LS7366_read_counter(); //update class variable
jebradshaw 0:cf7192f9f99a 56 }
jebradshaw 0:cf7192f9f99a 57
jebradshaw 10:32faca5a2577 58 void Axis::init(void){
jebradshaw 0:cf7192f9f99a 59 //resets the controllers internals
jebradshaw 0:cf7192f9f99a 60 this->pid->reset();
jebradshaw 0:cf7192f9f99a 61
jebradshaw 0:cf7192f9f99a 62 //Encoder counts limit
jebradshaw 8:7e399d7c990d 63 this->pid->setInputLimits(-55000, 55000);
jebradshaw 0:cf7192f9f99a 64 //Pwm output from 0.0 to 1.0
jebradshaw 0:cf7192f9f99a 65 this->pid->setOutputLimits(-1.0, 1.0);
jebradshaw 0:cf7192f9f99a 66 //If there's a bias.
jebradshaw 0:cf7192f9f99a 67 this->pid->setBias(0.0);
jebradshaw 0:cf7192f9f99a 68 this->pid->setMode(AUTO_MODE);
jebradshaw 0:cf7192f9f99a 69
jebradshaw 0:cf7192f9f99a 70 this->pid->setInterval(this->Tdelay);
jebradshaw 0:cf7192f9f99a 71
jebradshaw 0:cf7192f9f99a 72 //start at 0
jebradshaw 0:cf7192f9f99a 73 this->ls7366->LS7366_reset_counter();
jebradshaw 0:cf7192f9f99a 74 this->ls7366->LS7366_quad_mode_x4();
jebradshaw 0:cf7192f9f99a 75 this->ls7366->LS7366_write_DTR(0);
jebradshaw 0:cf7192f9f99a 76
jebradshaw 0:cf7192f9f99a 77 this->set_point = 0.0;
jebradshaw 0:cf7192f9f99a 78 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 79 this->enc = this->ls7366->LS7366_read_counter(); //update class variable
jebradshaw 0:cf7192f9f99a 80
jebradshaw 0:cf7192f9f99a 81 //resets the controllers internals
jebradshaw 0:cf7192f9f99a 82 this->pid->reset();
jebradshaw 0:cf7192f9f99a 83 //start at 0
jebradshaw 0:cf7192f9f99a 84 this->set_point = 0.0;
jebradshaw 0:cf7192f9f99a 85 this->pid->setSetPoint(0);
jebradshaw 0:cf7192f9f99a 86
jebradshaw 0:cf7192f9f99a 87 this->pid->setTunings(this->Pk, this->Ik, this->Dk); //turns on controller
jebradshaw 0:cf7192f9f99a 88 }
jebradshaw 0:cf7192f9f99a 89
jebradshaw 9:7bc59203ce98 90 void Axis::paramUpdate(void){
jebradshaw 0:cf7192f9f99a 91 //testOut = 1;
jebradshaw 0:cf7192f9f99a 92 this->enc = this->ls7366->LS7366_read_counter();
jebradshaw 0:cf7192f9f99a 93 this->pos = (float)this->enc; // * this->countsPerDeg * PI/180.0; //times counts/degree and convert to radians
jebradshaw 0:cf7192f9f99a 94
jebradshaw 0:cf7192f9f99a 95 this->vel = (this->pos - this->pos_last) * this->Tdelay;
jebradshaw 0:cf7192f9f99a 96 this->acc = (this->vel - this->vel_last);
jebradshaw 0:cf7192f9f99a 97
jebradshaw 0:cf7192f9f99a 98 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 99
jebradshaw 0:cf7192f9f99a 100 //Update the process variable.
jebradshaw 0:cf7192f9f99a 101 this->pid->setProcessValue(this->pos);
jebradshaw 0:cf7192f9f99a 102 //Set the new output.
jebradshaw 0:cf7192f9f99a 103 this->co = this->pid->compute();
jebradshaw 0:cf7192f9f99a 104
jebradshaw 7:d0458137d6e0 105 if(this->axisState){
jebradshaw 7:d0458137d6e0 106 if(this->motInvert==0){
jebradshaw 7:d0458137d6e0 107 this->motcon->mot_control(this->co); //send controller output to PWM motor control command
jebradshaw 7:d0458137d6e0 108 }
jebradshaw 7:d0458137d6e0 109 else{
jebradshaw 7:d0458137d6e0 110 this->motcon->mot_control(this->co, 1); //send controller output to PWM motor control command
jebradshaw 7:d0458137d6e0 111 }
jebradshaw 7:d0458137d6e0 112 }
jebradshaw 4:4079f92f9c26 113 else{
jebradshaw 4:4079f92f9c26 114 this->co = 0.0;
jebradshaw 4:4079f92f9c26 115 this->motcon->mot_control(0.0); //turn off motor command
jebradshaw 4:4079f92f9c26 116 }
jebradshaw 4:4079f92f9c26 117
jebradshaw 0:cf7192f9f99a 118 this->pos_last = this->pos;
jebradshaw 0:cf7192f9f99a 119 this->vel_last = this->vel;
jebradshaw 0:cf7192f9f99a 120 this->set_point_last = this->set_point;
jebradshaw 0:cf7192f9f99a 121 }
jebradshaw 0:cf7192f9f99a 122
jebradshaw 8:7e399d7c990d 123 void Axis::center(void){
jebradshaw 5:79dcaa63700c 124 while((*this->ptr_limit == 1) && (this->readCurrent() < mot_I_lim)){ //limit switch not pressed and mot current not exceeded
jebradshaw 0:cf7192f9f99a 125 this->set_point += 100;
jebradshaw 7:d0458137d6e0 126 wait(.05);
jebradshaw 0:cf7192f9f99a 127 if(this->debug)
jebradshaw 2:653433f4ee72 128 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 129 }
jebradshaw 5:79dcaa63700c 130 wait(.5);
jebradshaw 5:79dcaa63700c 131 while((*this->ptr_limit == 0)){ //limit switch is pressed
jebradshaw 5:79dcaa63700c 132 this->set_point -= 10;
jebradshaw 5:79dcaa63700c 133 wait(.1);
jebradshaw 5:79dcaa63700c 134 if(this->debug)
jebradshaw 2:653433f4ee72 135 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 136 }
jebradshaw 5:79dcaa63700c 137 this->zero(); //zero channel
jebradshaw 0:cf7192f9f99a 138
jebradshaw 8:7e399d7c990d 139 // this->set_point = -(totalCounts/2.0);
jebradshaw 0:cf7192f9f99a 140
jebradshaw 2:653433f4ee72 141 if(this->debug)
jebradshaw 2:653433f4ee72 142 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 143 // pc.printf("End Home\r\n\r\n");
jebradshaw 0:cf7192f9f99a 144 }
jebradshaw 0:cf7192f9f99a 145
jebradshaw 2:653433f4ee72 146 void Axis::moveUpdate(void){
jebradshaw 2:653433f4ee72 147
jebradshaw 5:79dcaa63700c 148 /* if(*this->ptr_limit == 0){
jebradshaw 2:653433f4ee72 149 this->moveState = 4; //terminate the move
jebradshaw 2:653433f4ee72 150 printf("\r\nLimit reached on axis!\r\n");
jebradshaw 2:653433f4ee72 151 }
jebradshaw 5:79dcaa63700c 152 */
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 2:653433f4ee72 155
jebradshaw 0:cf7192f9f99a 156 switch(this->moveState){
jebradshaw 0:cf7192f9f99a 157 case 0:
jebradshaw 0:cf7192f9f99a 158 break;
jebradshaw 0:cf7192f9f99a 159
jebradshaw 0:cf7192f9f99a 160 //accelerate
jebradshaw 0:cf7192f9f99a 161 case 1:
jebradshaw 0:cf7192f9f99a 162 //testOut = 1;
jebradshaw 0:cf7192f9f99a 163 this->vel_accum += this->acc_cmd * this->Tdelay; //add acceleration to the velocity accumulator
jebradshaw 0:cf7192f9f99a 164 if(this->vel_avg_cmd > 0.0){ //check the sign of the movement
jebradshaw 0:cf7192f9f99a 165 if(this->vel_accum >= this->vel_cmd) //if the accumulator reaches or exceeds the velocity command
jebradshaw 0:cf7192f9f99a 166 this->vel_accum = this->vel_cmd; // only add the velocity command to the accumulator
jebradshaw 0:cf7192f9f99a 167 }
jebradshaw 0:cf7192f9f99a 168 else{ //if the sign was negative
jebradshaw 0:cf7192f9f99a 169 if(this->vel_accum <= this->vel_cmd)
jebradshaw 0:cf7192f9f99a 170 this->vel_accum = this->vel_cmd;
jebradshaw 0:cf7192f9f99a 171 }
jebradshaw 0:cf7192f9f99a 172 //testOut = 0;
jebradshaw 0:cf7192f9f99a 173
jebradshaw 0:cf7192f9f99a 174 this->set_point += this->vel_accum;
jebradshaw 0:cf7192f9f99a 175 //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 176 //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 177
jebradshaw 0:cf7192f9f99a 178 if(this->t.read()>=(this->moveTime/3.0) || (abs(this->vel_accum) > abs(this->vel_cmd)))
jebradshaw 0:cf7192f9f99a 179 this->moveState = 2;
jebradshaw 0:cf7192f9f99a 180 break;
jebradshaw 0:cf7192f9f99a 181
jebradshaw 0:cf7192f9f99a 182 //constant velocity
jebradshaw 0:cf7192f9f99a 183 case 2:
jebradshaw 0:cf7192f9f99a 184 //testOut = 1;
jebradshaw 0:cf7192f9f99a 185 //this->vel_accum += this->vel_cmd * this->Tdelay;
jebradshaw 0:cf7192f9f99a 186 this->set_point += this->vel_cmd;
jebradshaw 0:cf7192f9f99a 187 //testOut = 0;
jebradshaw 0:cf7192f9f99a 188 //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 189 //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 190
jebradshaw 0:cf7192f9f99a 191 if(this->t.read()>=(2.0/3.0 * this->moveTime))
jebradshaw 0:cf7192f9f99a 192 this->moveState = 3;
jebradshaw 0:cf7192f9f99a 193 break;
jebradshaw 0:cf7192f9f99a 194
jebradshaw 0:cf7192f9f99a 195 //decelerate
jebradshaw 0:cf7192f9f99a 196 case 3:
jebradshaw 0:cf7192f9f99a 197 this->vel_accum -= this->acc_cmd * this->Tdelay;
jebradshaw 0:cf7192f9f99a 198
jebradshaw 0:cf7192f9f99a 199 this->set_point += this->vel_accum; //ramp down velocity by acceleration
jebradshaw 0:cf7192f9f99a 200 //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 201 //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 202
jebradshaw 0:cf7192f9f99a 203 if(this->vel_avg_cmd > 0.0){
jebradshaw 1:cd249816dba8 204 if(this->pos_cmd <= this->pos){
jebradshaw 1:cd249816dba8 205 //finish with position command
jebradshaw 1:cd249816dba8 206 this->set_point = this->pos_cmd;
jebradshaw 0:cf7192f9f99a 207 this->moveState = 4;
jebradshaw 1:cd249816dba8 208 }
jebradshaw 0:cf7192f9f99a 209 }
jebradshaw 0:cf7192f9f99a 210 else{
jebradshaw 1:cd249816dba8 211 if(this->pos_cmd >= this->pos){
jebradshaw 1:cd249816dba8 212 //finish with position command
jebradshaw 5:79dcaa63700c 213 //this->set_point = this->pos_cmd; //May be causing jerk after multi-axis movements J Bradshaw 20151124
jebradshaw 1:cd249816dba8 214 this->moveState = 4;
jebradshaw 1:cd249816dba8 215 }
jebradshaw 0:cf7192f9f99a 216 }
jebradshaw 0:cf7192f9f99a 217
jebradshaw 0:cf7192f9f99a 218 if(this->t.read()>=this->moveTime){
jebradshaw 1:cd249816dba8 219 //finish with position command
jebradshaw 5:79dcaa63700c 220 //this->set_point = this->pos_cmd; //May be causing jerk after multi-axis movements J Bradshaw 20151124
jebradshaw 0:cf7192f9f99a 221 this->moveState = 4;
jebradshaw 0:cf7192f9f99a 222 }
jebradshaw 0:cf7192f9f99a 223 break;
jebradshaw 0:cf7192f9f99a 224
jebradshaw 0:cf7192f9f99a 225 case 4:
jebradshaw 0:cf7192f9f99a 226 this->moveProfile.detach(); //turn off the trapazoidal update ticker
jebradshaw 0:cf7192f9f99a 227 this->t.stop();
jebradshaw 0:cf7192f9f99a 228 this->moveState = 0;
jebradshaw 0:cf7192f9f99a 229 break;
jebradshaw 0:cf7192f9f99a 230 }//switch moveStatus
jebradshaw 0:cf7192f9f99a 231 return;
jebradshaw 0:cf7192f9f99a 232 }
jebradshaw 0:cf7192f9f99a 233
jebradshaw 0:cf7192f9f99a 234 // position - encoder position to move to
jebradshaw 0:cf7192f9f99a 235 // time - duration of the movement
jebradshaw 0:cf7192f9f99a 236 void Axis::moveTrapezoid(float positionCmd, float time){
jebradshaw 0:cf7192f9f99a 237 this->pos_cmd = positionCmd;
jebradshaw 0:cf7192f9f99a 238 this->moveTime = time;
jebradshaw 4:4079f92f9c26 239 float enc_distance = this->pos_cmd - (float)this->enc;// * 1.0/con0.countsPerDeg * 180.0/PI;
jebradshaw 0:cf7192f9f99a 240
jebradshaw 0:cf7192f9f99a 241 this->vel_avg_cmd = enc_distance / time;
jebradshaw 0:cf7192f9f99a 242 this->vel_cmd = 1.5 * this->vel_avg_cmd * this->Tdelay;
jebradshaw 0:cf7192f9f99a 243 this->acc_cmd = 4.5 * (enc_distance / (this->moveTime * this->moveTime)) * this->Tdelay;
jebradshaw 0:cf7192f9f99a 244
jebradshaw 0:cf7192f9f99a 245 //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 246
jebradshaw 0:cf7192f9f99a 247 //establish encoder velocities and accelerations for position control per Tdelay
jebradshaw 0:cf7192f9f99a 248 this->vel_accum = 0.0;
jebradshaw 0:cf7192f9f99a 249
jebradshaw 0:cf7192f9f99a 250 // this->set_point = this->pos;
jebradshaw 0:cf7192f9f99a 251 this->moveState = 1;
jebradshaw 0:cf7192f9f99a 252 this->t.reset();
jebradshaw 0:cf7192f9f99a 253 this->t.start();
jebradshaw 0:cf7192f9f99a 254 this->moveProfile.attach(this, &Axis::moveUpdate, this->Tdelay);
jebradshaw 0:cf7192f9f99a 255 }
jebradshaw 2:653433f4ee72 256
jebradshaw 4:4079f92f9c26 257 float Axis::readCurrent(void){
jebradshaw 11:93d924320ddc 258 motCurrent = (this->_analog.read() * 3.3) / .525; //525mV per amp
jebradshaw 4:4079f92f9c26 259 return motCurrent;
jebradshaw 2:653433f4ee72 260 }
jebradshaw 2:653433f4ee72 261
jebradshaw 2:653433f4ee72 262 void Axis::axisOff(void){
jebradshaw 4:4079f92f9c26 263 this->co = 0;
jebradshaw 2:653433f4ee72 264 this->axisState = 0;
jebradshaw 9:7bc59203ce98 265 this->update.detach();
jebradshaw 2:653433f4ee72 266 }
jebradshaw 2:653433f4ee72 267
jebradshaw 9:7bc59203ce98 268 void Axis::axisOn(void){
jebradshaw 4:4079f92f9c26 269 this->co = 0.0;
jebradshaw 4:4079f92f9c26 270 this->pid->reset();
jebradshaw 4:4079f92f9c26 271 //start at 0
jebradshaw 4:4079f92f9c26 272 this->set_point = 0.0;
jebradshaw 4:4079f92f9c26 273 this->pid->setSetPoint(0);
jebradshaw 4:4079f92f9c26 274
jebradshaw 4:4079f92f9c26 275 this->pid->setTunings(this->Pk, this->Ik, this->Dk); //turns on controller
jebradshaw 2:653433f4ee72 276 this->axisState = 1;
jebradshaw 9:7bc59203ce98 277 this->update.attach(this, &Axis::paramUpdate, this->Tdelay);
jebradshaw 5:79dcaa63700c 278 }
jebradshaw 5:79dcaa63700c 279
jebradshaw 10:32faca5a2577 280 void Axis::zero(void){
jebradshaw 9:7bc59203ce98 281
jebradshaw 5:79dcaa63700c 282 this->ls7366->LS7366_reset_counter();
jebradshaw 5:79dcaa63700c 283 this->ls7366->LS7366_quad_mode_x4();
jebradshaw 5:79dcaa63700c 284 this->ls7366->LS7366_write_DTR(0);
jebradshaw 5:79dcaa63700c 285
jebradshaw 9:7bc59203ce98 286 this->enc = this->ls7366->LS7366_read_counter();
jebradshaw 9:7bc59203ce98 287
jebradshaw 9:7bc59203ce98 288 this->pos = 0.0;
jebradshaw 5:79dcaa63700c 289 this->set_point = 0.0;
jebradshaw 5:79dcaa63700c 290 this->pid->setSetPoint(0);
jebradshaw 9:7bc59203ce98 291
jebradshaw 8:7e399d7c990d 292 }
jebradshaw 8:7e399d7c990d 293
jebradshaw 8:7e399d7c990d 294 void Axis::writeEncoderValue(long value){
jebradshaw 9:7bc59203ce98 295
jebradshaw 8:7e399d7c990d 296 this->ls7366->LS7366_write_DTR(value);
jebradshaw 9:7bc59203ce98 297
jebradshaw 8:7e399d7c990d 298 this->set_point = (float)value;
jebradshaw 9:7bc59203ce98 299 this->pid->setSetPoint(this->set_point);
jebradshaw 2:653433f4ee72 300 }