N K
/
GaNtroller
a fork of priustroller
Fork of priustroller_current by
core/motor.cpp@54:e8d9bc885723, 2015-05-19 (annotated)
- Committer:
- bwang
- Date:
- Tue May 19 08:50:42 2015 +0000
- Revision:
- 54:e8d9bc885723
- Parent:
- 33:e7b132029bae
Velocity sensing added
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 0:54cf32d35f4d | 1 | #include "includes.h" |
bwang | 1:1f58bdcf2956 | 2 | #include "core.h" |
bwang | 1:1f58bdcf2956 | 3 | #include "sensors.h" |
bwang | 0:54cf32d35f4d | 4 | |
nki | 33:e7b132029bae | 5 | Motor::Motor(CurrentSensor *sense_c, CurrentSensor *sense_b, PositionSensor *sense_p, TempSensor *sense_t) { |
nki | 33:e7b132029bae | 6 | _sense_c = sense_c; |
nki | 33:e7b132029bae | 7 | _sense_b = sense_b; |
bwang | 0:54cf32d35f4d | 8 | _sense_p = sense_p; |
bwang | 0:54cf32d35f4d | 9 | _sense_t = sense_t; |
bwang | 0:54cf32d35f4d | 10 | } |
bwang | 0:54cf32d35f4d | 11 | |
bwang | 11:dccbaa9274c5 | 12 | float Motor::GetCurrentC() { |
nki | 33:e7b132029bae | 13 | return _sense_c->GetCurrent(); |
bwang | 0:54cf32d35f4d | 14 | } |
bwang | 0:54cf32d35f4d | 15 | |
bwang | 11:dccbaa9274c5 | 16 | float Motor::GetCurrentB() { |
nki | 33:e7b132029bae | 17 | return _sense_b->GetCurrent(); |
bwang | 0:54cf32d35f4d | 18 | } |
bwang | 0:54cf32d35f4d | 19 | |
bwang | 11:dccbaa9274c5 | 20 | float Motor::GetPosition() { |
bwang | 11:dccbaa9274c5 | 21 | return _sense_p->GetPosition(); |
bwang | 0:54cf32d35f4d | 22 | } |
bwang | 0:54cf32d35f4d | 23 | |
bwang | 54:e8d9bc885723 | 24 | float Motor::GetSpeed() { |
bwang | 54:e8d9bc885723 | 25 | return _sense_p->GetSpeed(); |
bwang | 54:e8d9bc885723 | 26 | } |
bwang | 54:e8d9bc885723 | 27 | |
bwang | 11:dccbaa9274c5 | 28 | float Motor::GetTemp() { |
bwang | 11:dccbaa9274c5 | 29 | return _sense_t->GetTemp(); |
bwang | 0:54cf32d35f4d | 30 | } |
bwang | 0:54cf32d35f4d | 31 | |
bwang | 0:54cf32d35f4d | 32 | void Motor::Config(int num_poles, float kv) { |
bwang | 0:54cf32d35f4d | 33 | _num_poles = num_poles; |
bwang | 0:54cf32d35f4d | 34 | _kv = kv; |
bwang | 0:54cf32d35f4d | 35 | } |