2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Diff: TVDCTRL.h

Revision:
28:47e9531a3a9d
Parent:
26:331e77bb479b
Child:
30:c596a0f5d685
--- a/TVDCTRL.h	Sat Jul 01 08:45:37 2017 +0000
+++ b/TVDCTRL.h	Mon Jul 03 12:03:34 2017 +0000
@@ -24,13 +24,14 @@
     BRAKE
 };
 
-const int MAX_MOTOR_TORQUE_POWER            = 0xFFFF;   //LSB : 45/65535 = 0.686655[mNm]
-const int MAX_MOTOR_TORQUE_REGENERATIVE     = (int)(MAX_MOTOR_TORQUE_POWER / 45.0 * (-15.0));   //LSB : 45/65535 = 0.686655[mNm]
-const int MAX_OUTPUT_TORQUE_POWER           = (int)(MAX_MOTOR_TORQUE_POWER * 1.0);    //出力最大値
-const int MAX_OUTPUT_TORQUE_REGENERATIVE    = (int)(MAX_MOTOR_TORQUE_REGENERATIVE * 1.0);    //出力最大値
-const int MAX_DISTRIBUTION_TORQUE   = (int)(0xFFFF/45.0 * 15.0);        //出力MAX時
+const double LSB_MOTOR_TORQUE               = 0.015;                                        //Motor torque LSB(15[mNm])
+const int MAX_MOTOR_TORQUE_POWER            = (int)(45.0 / LSB_MOTOR_TORQUE);               //Motor max torque:45.0[Nm](digital value:3000)
+const int MAX_MOTOR_TORQUE_REGENERATIVE     = (int)(-15.0 / LSB_MOTOR_TORQUE);              //Motor max torque:-15.0[Nm](digital value:1000)
+const int MAX_OUTPUT_TORQUE_POWER           = (int)(MAX_MOTOR_TORQUE_POWER * 1.0);          //出力最大値
+const int MAX_OUTPUT_TORQUE_REGENERATIVE    = (int)(MAX_MOTOR_TORQUE_REGENERATIVE * 1.0);   //出力最大値
+const int MAX_DISTRIBUTION_TORQUE           = (int)(15.0 / LSB_MOTOR_TORQUE);               //出力MAX時 (digital value:1000)
 
-const int MIN_INNERWHEEL_MOTOR_TORQUE   = (int)(0xFFFF/45.0 * 2.0);     //内輪側モーターの最低トルク(MITSUBA社MC仕様対策)
+const int MIN_INNERWHEEL_MOTOR_TORQUE   = (int)(2.0 / LSB_MOTOR_TORQUE);     //内輪側モーターの最低トルク(MITSUBA社MC仕様対策)
 
 const int APS_MIN_POSITION          =(int)(0xFFFF/3.3 * 1.0);               //"正常時"最小入力電圧
 const int APS_MAX_POSITION          =(int)(0xFFFF/3.3 * 2.0);               //"正常時"最大入力電圧
@@ -76,11 +77,14 @@
 void initTVD(void);
 void driveTVD(int TVDmode, bool isRedyToDrive);
 
-int getPulseCounter(SelectMotor rl);
+int getPulseCounter(Select rl);
 float getVelocity(void);
 int getCurrentSensor(int sensor);
 int getRawSensor(int sensor);
 void getCurrentErrCount(struct errCounter_t *ptr);
 int calcRequestTorque(void);
+int getMotorTorque(Select rl);
+int isBrakeOn(void);
+int getRPS(Select rl, bool switchWheel=false);
 
 #endif
\ No newline at end of file