初定版本
Dependencies: mbed Hobbyking_Cheetah FastPWM3
PositionSensor/PositionSensor.h
- Committer:
- qiudehua
- Date:
- 2022-05-10
- Revision:
- 55:d57335792cb7
- Parent:
- 47:e1196a851f76
File content as of revision 55:d57335792cb7:
#ifndef POSITIONSENSOR_H #define POSITIONSENSOR_H class PositionSensor { public: virtual void Sample(float dt) = 0; virtual float GetMechPosition() {return 0.0f;} virtual float GetMechPositionFixed() {return 0.0f;} virtual float GetElecPosition() {return 0.0f;} virtual float GetMechVelocity() {return 0.0f;} virtual float GetElecVelocity() {return 0.0f;} virtual void ZeroPosition(void) = 0; virtual int GetRawPosition(void) = 0; virtual void SetElecOffset(float offset) = 0; virtual int GetCPR(void) = 0; virtual void WriteLUT(int new_lut[128]) = 0; }; class PositionSensorEncoder: public PositionSensor { public: PositionSensorEncoder(int CPR, float offset, int ppairs); virtual void Sample(float dt); virtual float GetMechPosition(); virtual float GetElecPosition(); virtual float GetMechVelocity(); virtual float GetElecVelocity(); virtual void ZeroPosition(void); virtual void SetElecOffset(float offset); virtual int GetRawPosition(void); virtual int GetCPR(void); virtual void WriteLUT(int new_lut[128]); private: InterruptIn *ZPulse; DigitalIn *ZSense; //DigitalOut *ZTest; virtual void ZeroEncoderCount(void); virtual void ZeroEncoderCountDown(void); int _CPR, flag, rotations, _ppairs, raw; //int state; //float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[40]; float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[168]; int offset_lut[128]; }; class PositionSensorAM5147: public PositionSensor{ public: PositionSensorAM5147(int CPR, float offset, int ppairs); virtual void Sample(float dt); virtual float GetMechPosition(); virtual float GetMechPositionFixed(); virtual float GetElecPosition(); virtual float GetMechVelocity(); virtual float GetElecVelocity(); virtual int GetRawPosition(); virtual void ZeroPosition(); virtual void SetElecOffset(float offset); virtual void SetMechOffset(float offset); virtual int GetCPR(void); virtual void WriteLUT(int new_lut[128]); private: //float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt; float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[168], MechVelocity, ElecVelocity, ElecVelocityFilt; float MechVelocityLow,velVecLow[168]; // add by 20210706 int raw, _CPR, rotations, old_counts, _ppairs; SPI *spi; DigitalOut *cs; int readAngleCmd; int offset_lut[128]; }; #endif