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Fork of priustroller_2 by
motor.cpp@0:54cf32d35f4d, 2015-03-01 (annotated)
- Committer:
- bwang
- Date:
- Sun Mar 01 06:16:01 2015 +0000
- Revision:
- 0:54cf32d35f4d
- Child:
- 1:1f58bdcf2956
first publish
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 0:54cf32d35f4d | 1 | #include "includes.h" |
bwang | 0:54cf32d35f4d | 2 | #include "classes.h" |
bwang | 0:54cf32d35f4d | 3 | |
bwang | 0:54cf32d35f4d | 4 | Motor::Motor(CurrentSensor *sense_a, CurrentSensor *sense_b, PositionSensor *sense_p, TempSensor *sense_t) { |
bwang | 0:54cf32d35f4d | 5 | _sense_a = sense_a; |
bwang | 0:54cf32d35f4d | 6 | _sense_b = sense_b; |
bwang | 0:54cf32d35f4d | 7 | _sense_p = sense_p; |
bwang | 0:54cf32d35f4d | 8 | _sense_t = sense_t; |
bwang | 0:54cf32d35f4d | 9 | UpdateState(); |
bwang | 0:54cf32d35f4d | 10 | } |
bwang | 0:54cf32d35f4d | 11 | |
bwang | 0:54cf32d35f4d | 12 | float Motor::UpdateCurrentA() { |
bwang | 0:54cf32d35f4d | 13 | return I_a = _sense_a->GetCurrent(); |
bwang | 0:54cf32d35f4d | 14 | } |
bwang | 0:54cf32d35f4d | 15 | |
bwang | 0:54cf32d35f4d | 16 | float Motor::UpdateCurrentB() { |
bwang | 0:54cf32d35f4d | 17 | return I_b = _sense_b->GetCurrent(); |
bwang | 0:54cf32d35f4d | 18 | } |
bwang | 0:54cf32d35f4d | 19 | |
bwang | 0:54cf32d35f4d | 20 | float Motor::UpdatePosition() { |
bwang | 0:54cf32d35f4d | 21 | return angle = _sense_p->GetPosition(); |
bwang | 0:54cf32d35f4d | 22 | } |
bwang | 0:54cf32d35f4d | 23 | |
bwang | 0:54cf32d35f4d | 24 | float Motor::GetTemp() { |
bwang | 0:54cf32d35f4d | 25 | return _sense_t->GetTemp(); |
bwang | 0:54cf32d35f4d | 26 | } |
bwang | 0:54cf32d35f4d | 27 | |
bwang | 0:54cf32d35f4d | 28 | void Motor::UpdateState() { |
bwang | 0:54cf32d35f4d | 29 | UpdateCurrentA(); |
bwang | 0:54cf32d35f4d | 30 | UpdateCurrentB(); |
bwang | 0:54cf32d35f4d | 31 | UpdatePosition(); |
bwang | 0:54cf32d35f4d | 32 | } |
bwang | 0:54cf32d35f4d | 33 | |
bwang | 0:54cf32d35f4d | 34 | void Motor::Config(int num_poles, float kv) { |
bwang | 0:54cf32d35f4d | 35 | _num_poles = num_poles; |
bwang | 0:54cf32d35f4d | 36 | _kv = kv; |
bwang | 0:54cf32d35f4d | 37 | } |