Diff: Axis.cpp

Revision:

10:32faca5a2577

Parent:

9:7bc59203ce98

Child:

11:93d924320ddc

--- a/Axis.cpp	Mon Aug 29 19:42:07 2016 +0000
+++ b/Axis.cpp	Wed Aug 31 21:46:27 2016 +0000
@@ -4,16 +4,14 @@
 #include "MotCon.h"
 #include "PID.h"
 
-#define RETRIES_MAX 10000
-
-Axis::Axis(SPI& spi, PinName cs, PinName pwm, PinName dir, PinName analog, int* limit, int *busy): _spi(spi), _cs(cs), _pwm(pwm), _dir(dir) , _analog(analog){
+Axis::Axis(SPI& spi, PinName cs, PinName pwm, PinName dir, PinName analog, int* limit): _spi(spi), _cs(cs), _pwm(pwm), _dir(dir) , _analog(analog){
     this->_cs = 1;           // Initialize chip select as off (high)
     this->_pwm = 0.0;
     this->_dir = 0;
     this->co = 0.0;
     this->Tdelay = .01;
-    this->Pk = 120.0; //80.0;      //rough gains, seem to work well but could use tuning   
-    this->Ik = 75.0;  //35.0;
+    this->Pk = 140.0; //120.0;      //rough gains, seem to work well but could use tuning   
+    this->Ik = 95.0;  //75.0;
     this->Dk = 0.0;
     this->set_point = 0.0;
     this->set_point_last = 0.0;
@@ -41,10 +39,7 @@
     this->motInvert = 0;
     this->dataFormat = 'r'; //default is radians
 //    this->ctsPerDeg = cpd;  //update counts per degree passed from constructor
-    this->ptr_busy = busy;
     
-    while(*this->ptr_busy);
-    *this->ptr_busy=1;
     this->pid = new PID(0.0,0.0,0.0,Tdelay); //Kc, Ti, Td, interval
     this->ls7366 = new LS7366(spi, cs);  //LS7366 encoder interface IC
     this->motcon = new MotCon(pwm, dir);
@@ -58,21 +53,9 @@
     this->set_point = 0.0;
     this->pid->setSetPoint(this->set_point);
     this->enc = this->ls7366->LS7366_read_counter();  //update class variable    
-    *this->ptr_busy=0;
 }
 
-void Axis::init(void){
-    int retries=0;
-    DigitalOut led3(P1_20);
-    while(*this->ptr_busy==1){        
-        if(retries>=RETRIES_MAX){
-            led3=1;
-        }
-        wait_us(5);
-        retries++;
-    }
-    //now set the busy flag
-    *this->ptr_busy=1;   
+void Axis::init(void){ 
     //resets the controllers internals
     this->pid->reset();
 
@@ -102,22 +85,9 @@
     this->pid->setSetPoint(0); 
                                                         
     this->pid->setTunings(this->Pk, this->Ik, this->Dk); //turns on controller    
-    
-    *this->ptr_busy=0;   //clear the busy flag
 }
     
 void Axis::paramUpdate(void){    
-    int retries=0;
-    DigitalOut led3(P1_20);
-    while(*this->ptr_busy==1){        
-        if(retries>=RETRIES_MAX){
-            led3=1;
-        }
-        wait_us(5);
-        retries++;
-    }
-    
-    *this->ptr_busy=1;   //set the busy flag
     //testOut = 1;    
     this->enc = this->ls7366->LS7366_read_counter();
     this->pos = (float)this->enc; // * this->countsPerDeg * PI/180.0; //times counts/degree and convert to radians
@@ -148,9 +118,6 @@
     this->pos_last = this->pos;
     this->vel_last = this->vel;
     this->set_point_last = this->set_point;
-    //testOut = 0;
-    
-    *this->ptr_busy=0;   //clear the busy flag
 }
 
 void Axis::center(void){    
@@ -167,7 +134,6 @@
        if(this->debug)
             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());
     }
-    while(*this->ptr_busy==1);
     this->zero();   //zero channel        
     
 //    this->set_point = -(totalCounts/2.0);
@@ -311,18 +277,7 @@
     this->update.attach(this, &Axis::paramUpdate, this->Tdelay);        
 }
 
-void Axis::zero(void){
-    int retries=0;
-    DigitalOut led3(P1_20);
-    while(*this->ptr_busy==1){        
-        if(retries>=RETRIES_MAX){
-            led3=!led3;
-            retries=0;
-        }
-        wait_us(5);
-        retries++;
-    }    
-    *this->ptr_busy=1;   //set the busy flag        
+void Axis::zero(void){       
 
     this->ls7366->LS7366_reset_counter();
     this->ls7366->LS7366_quad_mode_x4();       
@@ -330,8 +285,6 @@
     
     this->enc = this->ls7366->LS7366_read_counter();
     
-    *this->ptr_busy=0;   //clear the busy flag
-    
     this->pos = 0.0;
     this->set_point = 0.0;
     this->pid->setSetPoint(0);    
@@ -339,20 +292,8 @@
 }
 
 void Axis::writeEncoderValue(long value){
-    int retries=0;
-    DigitalOut led3(P1_20);
-    while(*this->ptr_busy==1){
-        if(retries>=RETRIES_MAX){
-            led3=1;
-        }
-        wait_us(5);
-        retries++;
-    }
-    *this->ptr_busy=1;   //set the busy flag
     
     this->ls7366->LS7366_write_DTR(value);
-    
-    *this->ptr_busy=0;   //clear the busy flag
         
     this->set_point = (float)value;
     this->pid->setSetPoint(this->set_point);