Shao Rui / Mbed 2 deprecated AGV

1

Dependencies:   mbed

PositionSensor/PositionSensor.h@0:571a1835428e, 2021-01-25 (annotated)

Committer:
shaorui
Date:
Mon Jan 25 08:36:48 2021 +0000
Revision:
0:571a1835428e
1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shaorui 0:571a1835428e 1 #ifndef POSITIONSENSOR_H
shaorui 0:571a1835428e 2 #define POSITIONSENSOR_H
shaorui 0:571a1835428e 3
shaorui 0:571a1835428e 4 #define PI 3.14159265359f
shaorui 0:571a1835428e 5 class PositionSensor {
shaorui 0:571a1835428e 6 public:
shaorui 0:571a1835428e 7 virtual void Sample(float dt) = 0;
shaorui 0:571a1835428e 8 virtual float GetMechPosition() {return 0.0f;}
shaorui 0:571a1835428e 9 virtual float GetMechPositionFixed() {return 0.0f;}
shaorui 0:571a1835428e 10 virtual float GetElecPosition() {return 0.0f;}
shaorui 0:571a1835428e 11 virtual float GetMechVelocity() {return 0.0f;}
shaorui 0:571a1835428e 12 virtual float GetElecVelocity() {return 0.0f;}
shaorui 0:571a1835428e 13 virtual void ZeroPosition(void) = 0;
shaorui 0:571a1835428e 14 virtual int GetRawPosition(void) = 0;
shaorui 0:571a1835428e 15 virtual void SetElecOffset(float offset) = 0;
shaorui 0:571a1835428e 16 virtual int GetCPR(void) = 0;
shaorui 0:571a1835428e 17 virtual void WriteLUT(int new_lut[128]) = 0;
shaorui 0:571a1835428e 18 };
shaorui 0:571a1835428e 19
shaorui 0:571a1835428e 20
shaorui 0:571a1835428e 21 class PositionSensorEncoder: public PositionSensor {
shaorui 0:571a1835428e 22 public:
shaorui 0:571a1835428e 23 PositionSensorEncoder(int CPR, float offset, int ppairs);
shaorui 0:571a1835428e 24 virtual void Sample(float dt);
shaorui 0:571a1835428e 25 virtual float GetMechPosition();
shaorui 0:571a1835428e 26 virtual float GetElecPosition();
shaorui 0:571a1835428e 27 virtual float GetMechVelocity();
shaorui 0:571a1835428e 28 virtual float GetElecVelocity();
shaorui 0:571a1835428e 29 virtual void ZeroPosition(void);
shaorui 0:571a1835428e 30 virtual void SetElecOffset(float offset);
shaorui 0:571a1835428e 31 virtual int GetRawPosition(void);
shaorui 0:571a1835428e 32 virtual int GetCPR(void);
shaorui 0:571a1835428e 33 virtual void WriteLUT(int new_lut[128]);
shaorui 0:571a1835428e 34 private:
shaorui 0:571a1835428e 35 InterruptIn *ZPulse;
shaorui 0:571a1835428e 36 DigitalIn *ZSense;
shaorui 0:571a1835428e 37 //DigitalOut *ZTest;
shaorui 0:571a1835428e 38 virtual void ZeroEncoderCount(void);
shaorui 0:571a1835428e 39 virtual void ZeroEncoderCountDown(void);
shaorui 0:571a1835428e 40 int _CPR, flag, rotations, _ppairs, raw;
shaorui 0:571a1835428e 41 //int state;
shaorui 0:571a1835428e 42 float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[40];
shaorui 0:571a1835428e 43 int offset_lut[128];
shaorui 0:571a1835428e 44 };
shaorui 0:571a1835428e 45
shaorui 0:571a1835428e 46 class PositionSensorAM5147: public PositionSensor{
shaorui 0:571a1835428e 47 public:
shaorui 0:571a1835428e 48 PositionSensorAM5147(int CPR, float offset, int ppairs);
shaorui 0:571a1835428e 49 virtual void Sample(float dt);
shaorui 0:571a1835428e 50 virtual float GetMechPosition();
shaorui 0:571a1835428e 51 virtual float GetMechPositionFixed();
shaorui 0:571a1835428e 52 virtual float GetElecPosition();
shaorui 0:571a1835428e 53 virtual float GetMechVelocity();
shaorui 0:571a1835428e 54 virtual float GetElecVelocity();
shaorui 0:571a1835428e 55 virtual int GetRawPosition();
shaorui 0:571a1835428e 56 virtual void ZeroPosition();
shaorui 0:571a1835428e 57 virtual void SetElecOffset(float offset);
shaorui 0:571a1835428e 58 virtual void SetMechOffset(float offset);
shaorui 0:571a1835428e 59 virtual int GetCPR(void);
shaorui 0:571a1835428e 60 virtual void WriteLUT(int new_lut[128]);
shaorui 0:571a1835428e 61 private:
shaorui 0:571a1835428e 62 float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt;
shaorui 0:571a1835428e 63 int raw, _CPR, rotations, old_counts, _ppairs;
shaorui 0:571a1835428e 64 SPI *spi;
shaorui 0:571a1835428e 65 DigitalOut *cs;
shaorui 0:571a1835428e 66 int readAngleCmd;
shaorui 0:571a1835428e 67 int offset_lut[128];
shaorui 0:571a1835428e 68
shaorui 0:571a1835428e 69 };
shaorui 0:571a1835428e 70
shaorui 0:571a1835428e 71 #endif