z ysaito / Mbed OS APro_B2DTst_0_Can_Class

2018.07.26

Dependencies:   WebSocketClient

mtrAccess.h@0:b3376afd10d8, 2018-07-26 (annotated)

Committer:
sayzyas
Date:
Thu Jul 26 00:20:04 2018 +0000
Revision:
0:b3376afd10d8
2018.07.26

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sayzyas 0:b3376afd10d8 1 class mtrAccess
sayzyas 0:b3376afd10d8 2 {
sayzyas 0:b3376afd10d8 3 private:
sayzyas 0:b3376afd10d8 4
sayzyas 0:b3376afd10d8 5 float motor1_current_center_value;
sayzyas 0:b3376afd10d8 6 float motor2_current_center_value;
sayzyas 0:b3376afd10d8 7 float motor3_current_center_value;
sayzyas 0:b3376afd10d8 8 float motor1_current_fwd_thd;
sayzyas 0:b3376afd10d8 9 float motor1_current_rvs_thd;
sayzyas 0:b3376afd10d8 10 float motor2_current_fwd_thd;
sayzyas 0:b3376afd10d8 11 float motor2_current_rvs_thd;
sayzyas 0:b3376afd10d8 12 uint32_t motor_pantiltwch_1_lock_count;
sayzyas 0:b3376afd10d8 13 uint32_t motor_pantiltwch_2_lock_count;
sayzyas 0:b3376afd10d8 14 // Motor lock
sayzyas 0:b3376afd10d8 15 volatile bool flg_motor_pantiltwch_1_lockcup;
sayzyas 0:b3376afd10d8 16 volatile bool flg_motor_pantiltwch_2_lockcup;
sayzyas 0:b3376afd10d8 17 volatile uint32_t flg_motor_pantiltwch_1_lock;
sayzyas 0:b3376afd10d8 18 volatile uint32_t flg_motor_pantiltwch_2_lock;
sayzyas 0:b3376afd10d8 19
sayzyas 0:b3376afd10d8 20
sayzyas 0:b3376afd10d8 21 int MCTR_CANID_CRAWLER; // CRAWLER motor ID
sayzyas 0:b3376afd10d8 22 int MCTR_CANID_PTORWCH; // PAN,TILT(B1) or Winch(B2) motor ID
sayzyas 0:b3376afd10d8 23 int MCTR_CANID_TRANSFORM; // TRANSFORM motor ID
sayzyas 0:b3376afd10d8 24
sayzyas 0:b3376afd10d8 25 bool sndCmd2MC( int rcan_id, int no, int speed );
sayzyas 0:b3376afd10d8 26
sayzyas 0:b3376afd10d8 27
sayzyas 0:b3376afd10d8 28 public:
sayzyas 0:b3376afd10d8 29
sayzyas 0:b3376afd10d8 30 bool flg_timerint_motor;
sayzyas 0:b3376afd10d8 31 bool flg_ival_motor_cw;
sayzyas 0:b3376afd10d8 32 bool flg_ival_motor_ccw;
sayzyas 0:b3376afd10d8 33
sayzyas 0:b3376afd10d8 34 int16_t move_interval_cw; // moving interval m1 to m2 cw rotation
sayzyas 0:b3376afd10d8 35 int16_t move_interval_ccw; // moving interval m1 to m2 ccw rotation
sayzyas 0:b3376afd10d8 36
sayzyas 0:b3376afd10d8 37 mtrAccess();
sayzyas 0:b3376afd10d8 38 bool setBaudRate( int baudrate );
sayzyas 0:b3376afd10d8 39 bool cmdControl( char* cmd, int sizeofcmd, int speed_m1, int speed_m2 );
sayzyas 0:b3376afd10d8 40 int readMotorCurrent( int motor_id, int motor_no, int motor_dir );
sayzyas 0:b3376afd10d8 41 };