Axis.h

00001 
00002 
00003 #ifndef MBED_AXIS_H
00004 #define MBED_AXIS_H
00005  
00006 #include "mbed.h"
00007 #include "PID.h"        //library for software routine PID controller
00008 #include "LS7366.h"     //library for quadrature encoder interface IC's
00009 #include "MotCon.h"     //simple motor control routines
00010 
00011 class Axis{
00012 public:
00013     Axis(SPI& _spi, PinName _cs, PinName _pwm, PinName _dir, PinName _analog, int* limit);    
00014     void paramUpdate(void);
00015     void center(void);
00016     void init(void);
00017     void moveTrapezoid(float position, float time);
00018     void moveUpdate(void);
00019     float readCurrent(void);
00020     void axisOff(void);
00021     void axisOn(void);
00022     void zero(void);
00023     void writeEncoderValue(long value);
00024     void updatePIDgains(float P, float I, float D);
00025     
00026     long enc;       //used to return the data from the LS7366 encoder chip
00027     float co;       // = 0.0;
00028     float Tdelay;   // = .01;
00029     float Pk;       // 120.0 for scorbot
00030     float Ik;       // 55.0 for scorbot
00031     float Dk;
00032     float set_point;// = 0.0;
00033     float set_point_last;
00034     float pos, vel, acc;    //calculated position, velocity, and acceleration
00035     int stat;               //overall axis status
00036     float pos_last, vel_last, acc_last; //history variables used to calculate motion
00037     float pos_cmd, vel_cmd, vel_avg_cmd, acc_cmd;    
00038     float vel_max, acc_max;
00039     float vel_accum;
00040     float moveTime;    
00041     float p_higher, p_lower;
00042     int moveStatus;
00043     int moveState;
00044     int debug;
00045     int *ptr_limit;
00046     float motI;   //motor current read from readCurrent() function
00047     volatile float motI_last;
00048     float mot_I_lim;    //max current limit
00049     float dIdT;
00050     float mot_I_max, mot_I_max_last;
00051     int axisState;
00052     int motInvert;
00053     char dataFormat;    //'r'=radians (default), 'd'=degrees, 'e'=encoder counts
00054     float pos_rad, vel_rad;      //current position measurement in radians
00055     float pos_deg, vel_deg;  //current position measurement in degrees
00056     float ctsPerDeg;
00057     int busyflag;
00058 
00059     Ticker update;
00060     Ticker moveProfile;
00061     Timer t;
00062     PID *pid;
00063     LS7366 *ls7366;
00064     MotCon *motcon;
00065     //AnalogIn *motCurrent;
00066     
00067 private:
00068     SPI _spi;
00069     DigitalOut _cs;
00070     PwmOut _pwm;
00071     DigitalOut _dir;
00072     AnalogIn _analog;
00073 };
00074 
00075 #endif
00076 
00077