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Dependencies:   mbed

Fork of priustroller_2 by N K

motor.cpp

Committer:
bwang
Date:
2015-03-01
Revision:
0:54cf32d35f4d
Child:
1:1f58bdcf2956

File content as of revision 0:54cf32d35f4d:

#include "includes.h"
#include "classes.h"

Motor::Motor(CurrentSensor *sense_a, CurrentSensor *sense_b, PositionSensor *sense_p, TempSensor *sense_t) {
    _sense_a = sense_a;
    _sense_b = sense_b;
    _sense_p = sense_p;
    _sense_t = sense_t;
    UpdateState();
}

float Motor::UpdateCurrentA() {
    return I_a = _sense_a->GetCurrent();
}

float Motor::UpdateCurrentB() {
    return I_b = _sense_b->GetCurrent();
}

float Motor::UpdatePosition() {
    return angle = _sense_p->GetPosition();
}

float Motor::GetTemp() {
    return _sense_t->GetTemp();
}

void Motor::UpdateState() {
    UpdateCurrentA();
    UpdateCurrentB();
    UpdatePosition();
}

void Motor::Config(int num_poles, float kv) {
    _num_poles = num_poles;
    _kv = kv;
}