C++ class for controlling DC motor with encoder feedback. Dependencies include LS7366LIB, MotCon, and PID.
Dependencies: LS7366LIB MotCon2 PID
Axis.h@0:d7f0715676f4, 2018-11-08 (annotated)
- Committer:
- jebradshaw
- Date:
- Thu Nov 08 17:54:30 2018 +0000
- Revision:
- 0:d7f0715676f4
20181108 - Committed changes
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jebradshaw | 0:d7f0715676f4 | 1 | |
jebradshaw | 0:d7f0715676f4 | 2 | |
jebradshaw | 0:d7f0715676f4 | 3 | #ifndef MBED_AXIS_H |
jebradshaw | 0:d7f0715676f4 | 4 | #define MBED_AXIS_H |
jebradshaw | 0:d7f0715676f4 | 5 | |
jebradshaw | 0:d7f0715676f4 | 6 | #include "mbed.h" |
jebradshaw | 0:d7f0715676f4 | 7 | #include "PID.h" //library for software routine PID controller |
jebradshaw | 0:d7f0715676f4 | 8 | #include "LS7366.h" //library for quadrature encoder interface IC's |
jebradshaw | 0:d7f0715676f4 | 9 | #include "MotCon.h" //simple motor control routines |
jebradshaw | 0:d7f0715676f4 | 10 | |
jebradshaw | 0:d7f0715676f4 | 11 | class Axis{ |
jebradshaw | 0:d7f0715676f4 | 12 | public: |
jebradshaw | 0:d7f0715676f4 | 13 | Axis(SPI& _spi, PinName _cs, PinName _pwm, PinName _dir, PinName _analog, int* limit); |
jebradshaw | 0:d7f0715676f4 | 14 | void paramUpdate(void); |
jebradshaw | 0:d7f0715676f4 | 15 | void center(void); |
jebradshaw | 0:d7f0715676f4 | 16 | void init(void); |
jebradshaw | 0:d7f0715676f4 | 17 | void moveTrapezoid(float position, float time); |
jebradshaw | 0:d7f0715676f4 | 18 | void moveUpdate(void); |
jebradshaw | 0:d7f0715676f4 | 19 | float readCurrent(void); |
jebradshaw | 0:d7f0715676f4 | 20 | void axisOff(void); |
jebradshaw | 0:d7f0715676f4 | 21 | void axisOn(void); |
jebradshaw | 0:d7f0715676f4 | 22 | void zero(void); |
jebradshaw | 0:d7f0715676f4 | 23 | void writeEncoderValue(long value); |
jebradshaw | 0:d7f0715676f4 | 24 | void updatePIDgains(float P, float I, float D); |
jebradshaw | 0:d7f0715676f4 | 25 | |
jebradshaw | 0:d7f0715676f4 | 26 | long enc; //used to return the data from the LS7366 encoder chip |
jebradshaw | 0:d7f0715676f4 | 27 | float co; // = 0.0; |
jebradshaw | 0:d7f0715676f4 | 28 | float Tdelay; // = .01; |
jebradshaw | 0:d7f0715676f4 | 29 | float Pk; // 120.0 for scorbot |
jebradshaw | 0:d7f0715676f4 | 30 | float Ik; // 55.0 for scorbot |
jebradshaw | 0:d7f0715676f4 | 31 | float Dk; |
jebradshaw | 0:d7f0715676f4 | 32 | float set_point;// = 0.0; |
jebradshaw | 0:d7f0715676f4 | 33 | float set_point_last; |
jebradshaw | 0:d7f0715676f4 | 34 | float pos, vel, acc; //calculated position, velocity, and acceleration |
jebradshaw | 0:d7f0715676f4 | 35 | int stat; //overall axis status |
jebradshaw | 0:d7f0715676f4 | 36 | float pos_last, vel_last, acc_last; //history variables used to calculate motion |
jebradshaw | 0:d7f0715676f4 | 37 | float pos_cmd, vel_cmd, vel_avg_cmd, acc_cmd; |
jebradshaw | 0:d7f0715676f4 | 38 | float vel_max, acc_max; |
jebradshaw | 0:d7f0715676f4 | 39 | float vel_accum; |
jebradshaw | 0:d7f0715676f4 | 40 | float moveTime; |
jebradshaw | 0:d7f0715676f4 | 41 | float p_higher, p_lower; |
jebradshaw | 0:d7f0715676f4 | 42 | int moveStatus; |
jebradshaw | 0:d7f0715676f4 | 43 | int moveState; |
jebradshaw | 0:d7f0715676f4 | 44 | int debug; |
jebradshaw | 0:d7f0715676f4 | 45 | int *ptr_limit; |
jebradshaw | 0:d7f0715676f4 | 46 | float motI; //motor current read from readCurrent() function |
jebradshaw | 0:d7f0715676f4 | 47 | volatile float motI_last; |
jebradshaw | 0:d7f0715676f4 | 48 | float mot_I_lim; //max current limit |
jebradshaw | 0:d7f0715676f4 | 49 | float dIdT; |
jebradshaw | 0:d7f0715676f4 | 50 | float mot_I_max, mot_I_max_last; |
jebradshaw | 0:d7f0715676f4 | 51 | int axisState; |
jebradshaw | 0:d7f0715676f4 | 52 | int motInvert; |
jebradshaw | 0:d7f0715676f4 | 53 | char dataFormat; //'r'=radians (default), 'd'=degrees, 'e'=encoder counts |
jebradshaw | 0:d7f0715676f4 | 54 | float pos_rad, vel_rad; //current position measurement in radians |
jebradshaw | 0:d7f0715676f4 | 55 | float pos_deg, vel_deg; //current position measurement in degrees |
jebradshaw | 0:d7f0715676f4 | 56 | float ctsPerDeg; |
jebradshaw | 0:d7f0715676f4 | 57 | int busyflag; |
jebradshaw | 0:d7f0715676f4 | 58 | |
jebradshaw | 0:d7f0715676f4 | 59 | Ticker update; |
jebradshaw | 0:d7f0715676f4 | 60 | Ticker moveProfile; |
jebradshaw | 0:d7f0715676f4 | 61 | Timer t; |
jebradshaw | 0:d7f0715676f4 | 62 | PID *pid; |
jebradshaw | 0:d7f0715676f4 | 63 | LS7366 *ls7366; |
jebradshaw | 0:d7f0715676f4 | 64 | MotCon *motcon; |
jebradshaw | 0:d7f0715676f4 | 65 | //AnalogIn *motCurrent; |
jebradshaw | 0:d7f0715676f4 | 66 | |
jebradshaw | 0:d7f0715676f4 | 67 | private: |
jebradshaw | 0:d7f0715676f4 | 68 | SPI _spi; |
jebradshaw | 0:d7f0715676f4 | 69 | DigitalOut _cs; |
jebradshaw | 0:d7f0715676f4 | 70 | PwmOut _pwm; |
jebradshaw | 0:d7f0715676f4 | 71 | DigitalOut _dir; |
jebradshaw | 0:d7f0715676f4 | 72 | AnalogIn _analog; |
jebradshaw | 0:d7f0715676f4 | 73 | }; |
jebradshaw | 0:d7f0715676f4 | 74 | |
jebradshaw | 0:d7f0715676f4 | 75 | #endif |
jebradshaw | 0:d7f0715676f4 | 76 | |
jebradshaw | 0:d7f0715676f4 | 77 |