C++ class for controlling DC motor with encoder feedback. Dependencies include LS7366LIB, MotCon, and PID.
Dependencies: LS7366LIB MotCon2 PID
Diff: Axis.h
- Revision:
- 12:b80cc2e27bdb
- Parent:
- 11:93d924320ddc
--- a/Axis.h Tue Nov 15 15:41:33 2016 +0000 +++ b/Axis.h Wed Jul 11 13:47:33 2018 +0000 @@ -21,6 +21,7 @@ void axisOn(void); void zero(void); void writeEncoderValue(long value); + void updatePIDgains(float P, float I, float D); long enc; //used to return the data from the LS7366 encoder chip float co; // = 0.0; @@ -42,8 +43,11 @@ int moveState; int debug; int *ptr_limit; - float motCurrent; //motor current read from readCurrent() function + float motI; //motor current read from readCurrent() function + volatile float motI_last; float mot_I_lim; //max current limit + float dIdT; + float mot_I_max, mot_I_max_last; int axisState; int motInvert; char dataFormat; //'r'=radians (default), 'd'=degrees, 'e'=encoder counts