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.h@2:653433f4ee72, 2015-09-30 (annotated)

Committer:
jebradshaw
Date:
Wed Sep 30 16:20:45 2015 +0000
Revision:
2:653433f4ee72
Parent:
1:cd249816dba8
Child:
5:79dcaa63700c
added functions for turning on and off axis and reading current

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jebradshaw 0:cf7192f9f99a 1
jebradshaw 0:cf7192f9f99a 2
jebradshaw 0:cf7192f9f99a 3 #ifndef MBED_ROBOTARM_H
jebradshaw 0:cf7192f9f99a 4 #define MBED_ROBOTARM_H
jebradshaw 0:cf7192f9f99a 5
jebradshaw 0:cf7192f9f99a 6 #include "mbed.h"
jebradshaw 1:cd249816dba8 7 #include "PID.h" //library for software routine PID controller
jebradshaw 1:cd249816dba8 8 #include "LS7366.h" //library for quadrature encoder interface IC's
jebradshaw 1:cd249816dba8 9 #include "MotCon.h" //simple motor control routines
jebradshaw 0:cf7192f9f99a 10
jebradshaw 0:cf7192f9f99a 11 class Axis{
jebradshaw 0:cf7192f9f99a 12 public:
jebradshaw 2:653433f4ee72 13 Axis(SPI& _spi, PinName _cs, PinName _pwm, PinName _dir, PinName _analog, int* limit, float totalCnts);
jebradshaw 0:cf7192f9f99a 14 void paramUpdate(void);
jebradshaw 2:653433f4ee72 15 void center(void);
jebradshaw 2:653433f4ee72 16 void init(void);
jebradshaw 0:cf7192f9f99a 17 void moveTrapezoid(float position, float time);
jebradshaw 0:cf7192f9f99a 18 void moveUpdate(void);
jebradshaw 2:653433f4ee72 19 float readCurrent(void);
jebradshaw 2:653433f4ee72 20 void axisOff(void);
jebradshaw 2:653433f4ee72 21 void axisOn(void);
jebradshaw 0:cf7192f9f99a 22
jebradshaw 0:cf7192f9f99a 23 long enc;
jebradshaw 0:cf7192f9f99a 24 float co;// = 0.0;
jebradshaw 0:cf7192f9f99a 25 float Tdelay;// = .01;
jebradshaw 0:cf7192f9f99a 26 float Pk; // 120.0 for scorbot
jebradshaw 0:cf7192f9f99a 27 float Ik; // 55.0 for scorbot
jebradshaw 0:cf7192f9f99a 28 float Dk;
jebradshaw 0:cf7192f9f99a 29 float set_point;// = 0.0;
jebradshaw 0:cf7192f9f99a 30 float set_point_last;
jebradshaw 0:cf7192f9f99a 31 float pos, vel, acc; //calculated position, velocity, and acceleration
jebradshaw 0:cf7192f9f99a 32 float pos_last, vel_last, acc_last; //history variables used to calculate motion
jebradshaw 0:cf7192f9f99a 33 float pos_cmd, vel_cmd, vel_avg_cmd, acc_cmd;
jebradshaw 0:cf7192f9f99a 34 float vel_max, acc_max;
jebradshaw 0:cf7192f9f99a 35 float vel_accum;
jebradshaw 0:cf7192f9f99a 36 float moveTime;
jebradshaw 0:cf7192f9f99a 37 float p_higher, p_lower;
jebradshaw 0:cf7192f9f99a 38 int moveStatus;
jebradshaw 0:cf7192f9f99a 39 int moveState;
jebradshaw 0:cf7192f9f99a 40 int debug;
jebradshaw 1:cd249816dba8 41 int *ptr_limit;
jebradshaw 2:653433f4ee72 42 float totalCounts;
jebradshaw 2:653433f4ee72 43 float motCurrent;
jebradshaw 2:653433f4ee72 44 int axisState;
jebradshaw 0:cf7192f9f99a 45
jebradshaw 0:cf7192f9f99a 46 Ticker update;
jebradshaw 0:cf7192f9f99a 47 Ticker moveProfile;
jebradshaw 0:cf7192f9f99a 48 Timer t;
jebradshaw 0:cf7192f9f99a 49 PID *pid;
jebradshaw 0:cf7192f9f99a 50 LS7366 *ls7366;
jebradshaw 0:cf7192f9f99a 51 MotCon *motcon;
jebradshaw 2:653433f4ee72 52 //AnalogIn *motCurrent;
jebradshaw 0:cf7192f9f99a 53
jebradshaw 0:cf7192f9f99a 54 private:
jebradshaw 0:cf7192f9f99a 55 SPI _spi;
jebradshaw 0:cf7192f9f99a 56 DigitalOut _cs;
jebradshaw 0:cf7192f9f99a 57 PwmOut _pwm;
jebradshaw 2:653433f4ee72 58 DigitalOut _dir;
jebradshaw 2:653433f4ee72 59 AnalogIn _analog;
jebradshaw 0:cf7192f9f99a 60 };
jebradshaw 0:cf7192f9f99a 61
jebradshaw 0:cf7192f9f99a 62 #endif
jebradshaw 0:cf7192f9f99a 63
jebradshaw 0:cf7192f9f99a 64