Diff: ActuatorsSensor/MaxonESCON.h

Revision:

12:235e318a414f

Parent:

11:775ebb69d5e1

Child:

15:cb1337567ad4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ActuatorsSensor/MaxonESCON.h	Sun Apr 07 08:31:51 2013 +0000
@@ -0,0 +1,101 @@
+#ifndef _MAXON_ESCON_H_
+#define _MAXON_ESCON_H_
+
+#include "Hallsensor.h"
+#include "defines.h"
+
+/**
+ * @author Christian Burri
+ *
+ * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
+ * All rights reserved.
+ *
+ * @brief
+ *
+ * This class implements the driver for the Maxon ESCON servo driver.
+ * For more information see the Datasheet:
+ * <a href="http://escon.maxonmotor.com">http://escon.maxonmotor.com</a>
+ */
+class MaxonESCON
+{
+
+private:
+
+    /** @brief To Enable the amplifier */
+    DigitalOut _enb;
+    /** @brief Duty Cycle to set the speed */
+    PwmOut _pwm;
+    /** @brief Hallsensor Class */
+    Hallsensor* _hall;
+    /** @brief Ready output from ESCON */
+    DigitalIn _isenb;
+    /** @brief Actual speed from ESCON analog Output 1 */
+    AnalogIn _actualSpeed;
+    /** @brief increment the Hallpattern */
+    int    _pulses;
+
+public:
+
+    /**
+     * @brief Create a motor control object.
+     * @param enb DigitalOut, set high for enable
+     * @param isenb DigitalIn, high for enable
+     * @param pwm PwmOut pin, set the velocity
+     * @param actualSpeed AnalogIn filtered signal for ActualSpeed from Motor
+     * @param hall The object of the hallsensor from Motor
+     */
+    MaxonESCON(PinName enb,
+               PinName isenb,
+               PinName pwm,
+               PinName actualSpeed,
+               Hallsensor *hall);
+
+    /** 
+     * @brief Set the speed of the motor with a pwm for 10%..90%.
+     * 50% PWM is 0rpm.
+     * Caclulate from [1/s] in [1/min] and the Factor of the ESCON.
+     * @param speed The speed of the motor as a normalised value, given in [1/s]
+     */
+    void setVelocity(float speed);
+
+    /** 
+     * @brief Return the speed from ESCON.
+     * 0 rpm is defined in the Analog input as 1.65V
+     * @return speed of the motor, given in [1/s]
+     */
+    float getActualSpeed(void);
+
+    /** 
+     * @brief Set the period of the pwm duty cycle.
+     * Wrapper for PwmOut::period()
+     * @param period Pwm duty cycle, given in [s].
+     */
+    void period(float period);
+
+    /** 
+     * @brief Set the Motor to a enable sate.
+     * @param enb <code>false</code> for disable <code>true</code> for enable.
+     */
+    void enable(bool enb);
+
+    /**
+     * @brief Tests if the servo drive is enabled.
+     * @return <code>true</code> if the drive is enabled,
+     * <code>false</code> otherwise.
+     */
+    bool isEnabled(void);
+
+    /**
+     * @brief Return the number of Pulses.
+     * @return Pulses, given in [count]
+     */
+    int getPulses(void);
+
+    /**
+     * @brief Set the Pulses of the Motor, given in [count]
+     * @return Pulses, given in [count]
+     */
+    int setPulses(int setPos);
+};
+
+#endif