Diff: Axis.h

Revision:

12:7a7fe3baf733

Parent:

11:93d924320ddc

--- a/Axis.h	Tue Nov 15 15:41:33 2016 +0000
+++ b/Axis.h	Wed Jan 09 13:35:44 2019 +0000
@@ -1,4 +1,6 @@
-
+// Updated Axis Class on 20190108 to include mode change (Position, Velocity, Acceleration)
+//  all in radians, rad/sec, rad/sec/sec
+// J. Bradshaw
 
 #ifndef MBED_AXIS_H
 #define MBED_AXIS_H
@@ -10,17 +12,39 @@
 
 class Axis{
 public:
+    /** Create a closed loop controller connected to the specified pins
+     *
+     * @param _spi address of the spi object for LS7366 encoder IC communication
+     * @param _cs chip select signal used for the LS7366 encoder IC spi addressing
+     * @param _pwm pulse width modulation output pin for motor control signal     
+     * @param _dir DigitalOut pin to control the motor direction pin1
+     * @param _analog analog input pin for monitoring current
+     * @param _limit pointer to integer object for limit switch detection
+     */
     Axis(SPI& _spi, PinName _cs, PinName _pwm, PinName _dir, PinName _analog, int* limit);    
+    /** Create a closed loop controller connected to the specified pins
+     *
+     * @param _spi address of the spi object for LS7366 encoder IC communication
+     * @param _cs chip select signal used for the LS7366 encoder IC spi addressing
+     * @param _pwm pulse width modulation output pin for motor control signal     
+     * @param _dir DigitalOut pin to control the motor direction pin 1
+     * @param _dir2 DigitalOut pin to control the motor direction pin 2
+     * @param _analog analog input pin for monitoring current
+     * @param _limit pointer to integer object for limit switch detection
+     */
+    Axis(SPI& _spi, PinName _cs, PinName _pwm, PinName _dir, PinName _dir2, PinName _analog, int* limit);
     void paramUpdate(void);
-    void center(void);
-    void init(void);
+    void init(float encCountsPerRev);
     void moveTrapezoid(float position, float time);
-    void moveUpdate(void);
+    void moveScurve(float position, float time);
+    void moveUpdateTrapezoid(void);
     float readCurrent(void);
     void axisOff(void);
     void axisOn(void);
     void zero(void);
     void writeEncoderValue(long value);
+    void updatePIDgains(float P, float I, float D);
+    void changeMoveMode(int mode);
     
     long enc;       //used to return the data from the LS7366 encoder chip
     float co;       // = 0.0;
@@ -42,8 +66,11 @@
     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
@@ -51,6 +78,8 @@
     float pos_deg, vel_deg;  //current position measurement in degrees
     float ctsPerDeg;
     int busyflag;
+    int moveMode;
+    float countsPerRev;   
 
     Ticker update;
     Ticker moveProfile;
@@ -65,6 +94,7 @@
     DigitalOut _cs;
     PwmOut _pwm;
     DigitalOut _dir;
+    DigitalOut _dir2;
     AnalogIn _analog;
 };