core.h

00001 #ifndef __CORE_H
00002 #define __CORE_H
00003 
00004 #include "includes.h"
00005 #include "sensors.h"
00006 
00007 class Motor;
00008 class Inverter;
00009 class CurrentSensor;
00010 class VoltageSensor;
00011 class PositionSensor;
00012 class TempSensor;
00013 
00014 class Motor {
00015 public:
00016     Motor(CurrentSensor *sense_c, CurrentSensor *sense_b, PositionSensor *sense_p, TempSensor *sense_t);
00017     void Config(int num_poles, float kv);
00018     float UpdateCurrentC();
00019     float UpdateCurrentB();
00020     float UpdatePosition();
00021     float UpdateTemp();
00022     void UpdateState();
00023 public:
00024     float angle, I_c, I_b, temp;
00025 private:
00026     CurrentSensor *_sense_c,*_sense_b;
00027     PositionSensor *_sense_p;
00028     TempSensor *_sense_t;
00029     int _num_poles;
00030     float _kv;
00031 };
00032 
00033 class Inverter {
00034 public:
00035     Inverter(PinName ph_a, PinName ph_b, PinName ph_c, PinName en, VoltageSensor *sense_bus, TempSensor *sense_t);
00036     void SetDtcA(float dtc);
00037     void SetDtcB(float dtc);
00038     void SetDtcC(float dtc);
00039     void Disable();
00040     void Enable();
00041     float UpdateVbus();
00042     float UpdateTemp();
00043 public:
00044     float dtcA, dtcB, dtcC;
00045     float v_bus, temp;
00046     float va, vb; //debug
00047 private:
00048     PwmOut *_pwm_a, *_pwm_b, *_pwm_c;
00049     DigitalOut *_en;
00050     VoltageSensor *_sense_bus;
00051     TempSensor *_sense_t;
00052 };
00053 
00054 class User {
00055 public:
00056     User(Throttle *throttle) {_throttle = throttle;}
00057     void UpdateThrottle() {throttle = _throttle->GetThrottle();}
00058     void UpdateState() {UpdateThrottle();}
00059 public:
00060     float throttle;
00061 private:
00062     Throttle *_throttle;
00063 };
00064 
00065 #endif