Diff: Axis.cpp

Revision:

3:71447d4fb4f0

Parent:

2:653433f4ee72

Child:

4:4079f92f9c26

--- a/Axis.cpp	Wed Sep 30 16:20:45 2015 +0000
+++ b/Axis.cpp	Thu Oct 01 14:55:54 2015 +0000
@@ -3,6 +3,7 @@
 #include "LS7366.h"
 #include "MotCon.h"
 #include "PID.h"
+#define MIN_MOT_COL .06
 
 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){
     _cs = 1;           // Initialize chip select as off (high)
@@ -33,8 +34,8 @@
     moveStatus = 0;     //status flag to indicate state of profile movement
     moveState = 0;      //used for state machine in movement profiles
     debug = 0;   
-    update.attach(this, &Axis::paramUpdate, Tdelay);
-    axisState = 1;    
+//    update.attach(this, &Axis::paramUpdate, Tdelay);
+    axisState = 0;    
     
     pid = new PID(0.0,0.0,0.0,Tdelay); //Kc, Ti, Td, interval
     ls7366 = new LS7366(spi, cs);  //LS7366 encoder interface IC
@@ -275,9 +276,9 @@
     this->moveProfile.attach(this, &Axis::moveUpdate, this->Tdelay);
 }
 
-float Axis::readCurrent(void){    
-    motCurrent = _analog.read() * 3.3;
-    return motCurrent;
+float Axis::readCurrent(void){
+    this->motCurrent = this->_analog.read() * 3.3;
+    return this->motCurrent;
 }
 
 void Axis::axisOff(void){