Joseph Bradshaw / Axis

C++ class for controlling DC motor with encoder feedback. Dependencies include LS7366LIB, MotCon, and PID.

Dependencies:   LS7366LIB MotCon2 PID

Dependents:   LPC1768_6axis_Arm

Axis.cpp@3:71447d4fb4f0, 2015-10-01 (annotated)

Committer:
jebradshaw
Date:
Thu Oct 01 14:55:54 2015 +0000
Revision:
3:71447d4fb4f0
Parent:
2:653433f4ee72
Child:
4:4079f92f9c26
Axis 2 problems with moving uncommanded.; ;   PID? polarity?  What did I change?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jebradshaw 0:cf7192f9f99a 1
jebradshaw 0:cf7192f9f99a 2 #include "Axis.h"
jebradshaw 0:cf7192f9f99a 3 #include "LS7366.h"
jebradshaw 0:cf7192f9f99a 4 #include "MotCon.h"
jebradshaw 0:cf7192f9f99a 5 #include "PID.h"
jebradshaw 3:71447d4fb4f0 6 #define MIN_MOT_COL .06
jebradshaw 0:cf7192f9f99a 7
jebradshaw 2:653433f4ee72 8 Axis::Axis(SPI& spi, PinName cs, PinName pwm, PinName dir, PinName analog, int* limit, float totalCnts): _spi(spi), _cs(cs), _pwm(pwm), _dir(dir) , _analog(analog){
jebradshaw 0:cf7192f9f99a 9 _cs = 1; // Initialize chip select as off (high)
jebradshaw 0:cf7192f9f99a 10 _pwm = 0.0;
jebradshaw 0:cf7192f9f99a 11 _dir = 0;
jebradshaw 0:cf7192f9f99a 12 co = 0.0;
jebradshaw 0:cf7192f9f99a 13 Tdelay = .01;
jebradshaw 0:cf7192f9f99a 14 Pk = 120.0; //80.0; //rough gains, seem to work well but could use tuning
jebradshaw 0:cf7192f9f99a 15 Ik = 55.0; //35.0;
jebradshaw 0:cf7192f9f99a 16 Dk = 0.0;
jebradshaw 0:cf7192f9f99a 17 set_point = 0.0;
jebradshaw 0:cf7192f9f99a 18 set_point_last = 0.0;
jebradshaw 0:cf7192f9f99a 19 pos = 0.0;
jebradshaw 0:cf7192f9f99a 20 vel = 0.0;
jebradshaw 0:cf7192f9f99a 21 acc = 0.0;
jebradshaw 0:cf7192f9f99a 22 pos_cmd = 0.0;
jebradshaw 0:cf7192f9f99a 23 vel_cmd = 0.0;
jebradshaw 0:cf7192f9f99a 24 vel_avg_cmd = 0;
jebradshaw 0:cf7192f9f99a 25 acc_cmd = 0.0;
jebradshaw 0:cf7192f9f99a 26 vel_max = 2700.0 * Tdelay; //counts * Tdelay
jebradshaw 0:cf7192f9f99a 27 acc_max = 1200.0 * Tdelay; //counts/sec/sec * Tdelay
jebradshaw 0:cf7192f9f99a 28 p_higher = 0.0;
jebradshaw 0:cf7192f9f99a 29 p_lower = 0.0;
jebradshaw 0:cf7192f9f99a 30 vel_accum = 0.0;
jebradshaw 0:cf7192f9f99a 31 moveTime = 0.0;
jebradshaw 2:653433f4ee72 32 totalCounts = totalCnts;
jebradshaw 0:cf7192f9f99a 33 enc = 0;
jebradshaw 0:cf7192f9f99a 34 moveStatus = 0; //status flag to indicate state of profile movement
jebradshaw 0:cf7192f9f99a 35 moveState = 0; //used for state machine in movement profiles
jebradshaw 0:cf7192f9f99a 36 debug = 0;
jebradshaw 3:71447d4fb4f0 37 // update.attach(this, &Axis::paramUpdate, Tdelay);
jebradshaw 3:71447d4fb4f0 38 axisState = 0;
jebradshaw 0:cf7192f9f99a 39
jebradshaw 0:cf7192f9f99a 40 pid = new PID(0.0,0.0,0.0,Tdelay); //Kc, Ti, Td, interval
jebradshaw 0:cf7192f9f99a 41 ls7366 = new LS7366(spi, cs); //LS7366 encoder interface IC
jebradshaw 0:cf7192f9f99a 42 motcon = new MotCon(pwm, dir);
jebradshaw 1:cd249816dba8 43 ptr_limit = limit;
jebradshaw 0:cf7192f9f99a 44
jebradshaw 0:cf7192f9f99a 45 //start at 0
jebradshaw 0:cf7192f9f99a 46 this->ls7366->LS7366_reset_counter();
jebradshaw 0:cf7192f9f99a 47 this->ls7366->LS7366_quad_mode_x4();
jebradshaw 0:cf7192f9f99a 48 this->ls7366->LS7366_write_DTR(0);
jebradshaw 0:cf7192f9f99a 49
jebradshaw 0:cf7192f9f99a 50 this->set_point = 0.0;
jebradshaw 0:cf7192f9f99a 51 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 52 this->enc = this->ls7366->LS7366_read_counter(); //update class variable
jebradshaw 0:cf7192f9f99a 53 }
jebradshaw 0:cf7192f9f99a 54
jebradshaw 2:653433f4ee72 55 void Axis::init(void){
jebradshaw 1:cd249816dba8 56 //_limit.mode(PullUp);
jebradshaw 0:cf7192f9f99a 57 //resets the controllers internals
jebradshaw 0:cf7192f9f99a 58 this->pid->reset();
jebradshaw 0:cf7192f9f99a 59
jebradshaw 0:cf7192f9f99a 60 //Encoder counts limit
jebradshaw 2:653433f4ee72 61 this->pid->setInputLimits(-this->totalCounts, this->totalCounts);
jebradshaw 0:cf7192f9f99a 62 //Pwm output from 0.0 to 1.0
jebradshaw 0:cf7192f9f99a 63 this->pid->setOutputLimits(-1.0, 1.0);
jebradshaw 0:cf7192f9f99a 64 //If there's a bias.
jebradshaw 0:cf7192f9f99a 65 this->pid->setBias(0.0);
jebradshaw 0:cf7192f9f99a 66 this->pid->setMode(AUTO_MODE);
jebradshaw 0:cf7192f9f99a 67
jebradshaw 0:cf7192f9f99a 68 this->pid->setInterval(this->Tdelay);
jebradshaw 0:cf7192f9f99a 69
jebradshaw 0:cf7192f9f99a 70 //start at 0
jebradshaw 0:cf7192f9f99a 71 this->ls7366->LS7366_reset_counter();
jebradshaw 0:cf7192f9f99a 72 this->ls7366->LS7366_quad_mode_x4();
jebradshaw 0:cf7192f9f99a 73 this->ls7366->LS7366_write_DTR(0);
jebradshaw 0:cf7192f9f99a 74
jebradshaw 0:cf7192f9f99a 75 this->set_point = 0.0;
jebradshaw 0:cf7192f9f99a 76 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 77 this->enc = this->ls7366->LS7366_read_counter(); //update class variable
jebradshaw 0:cf7192f9f99a 78
jebradshaw 0:cf7192f9f99a 79 //resets the controllers internals
jebradshaw 0:cf7192f9f99a 80 this->pid->reset();
jebradshaw 0:cf7192f9f99a 81 //start at 0
jebradshaw 0:cf7192f9f99a 82 this->set_point = 0.0;
jebradshaw 0:cf7192f9f99a 83 this->pid->setSetPoint(0);
jebradshaw 0:cf7192f9f99a 84
jebradshaw 0:cf7192f9f99a 85 this->pid->setTunings(this->Pk, this->Ik, this->Dk); //turns on controller
jebradshaw 0:cf7192f9f99a 86 }
jebradshaw 0:cf7192f9f99a 87
jebradshaw 0:cf7192f9f99a 88 void Axis::paramUpdate(void){
jebradshaw 0:cf7192f9f99a 89 //testOut = 1;
jebradshaw 0:cf7192f9f99a 90 this->enc = this->ls7366->LS7366_read_counter();
jebradshaw 0:cf7192f9f99a 91 this->pos = (float)this->enc; // * this->countsPerDeg * PI/180.0; //times counts/degree and convert to radians
jebradshaw 0:cf7192f9f99a 92
jebradshaw 0:cf7192f9f99a 93 this->vel = (this->pos - this->pos_last) * this->Tdelay;
jebradshaw 0:cf7192f9f99a 94 this->acc = (this->vel - this->vel_last);
jebradshaw 0:cf7192f9f99a 95
jebradshaw 0:cf7192f9f99a 96 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 97
jebradshaw 0:cf7192f9f99a 98 //Update the process variable.
jebradshaw 0:cf7192f9f99a 99 this->pid->setProcessValue(this->pos);
jebradshaw 0:cf7192f9f99a 100 //Set the new output.
jebradshaw 0:cf7192f9f99a 101 this->co = this->pid->compute();
jebradshaw 0:cf7192f9f99a 102
jebradshaw 2:653433f4ee72 103 //this->motcon->mot_control(-(this->co)); //send controller output to PWM motor control command
jebradshaw 2:653433f4ee72 104 this->motcon->mot_control(this->co); //send controller output to PWM motor control command
jebradshaw 0:cf7192f9f99a 105
jebradshaw 0:cf7192f9f99a 106 this->pos_last = this->pos;
jebradshaw 0:cf7192f9f99a 107 this->vel_last = this->vel;
jebradshaw 0:cf7192f9f99a 108 this->set_point_last = this->set_point;
jebradshaw 0:cf7192f9f99a 109 //testOut = 0;
jebradshaw 0:cf7192f9f99a 110 }
jebradshaw 0:cf7192f9f99a 111
jebradshaw 2:653433f4ee72 112 void Axis::center(void){
jebradshaw 2:653433f4ee72 113 this->pid->setInputLimits(-this->totalCounts, this->totalCounts);
jebradshaw 2:653433f4ee72 114
jebradshaw 2:653433f4ee72 115 while(*this->ptr_limit == 1){ // && ({
jebradshaw 0:cf7192f9f99a 116 this->set_point += 100;
jebradshaw 0:cf7192f9f99a 117 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 118 wait(.05);
jebradshaw 0:cf7192f9f99a 119 if(this->debug)
jebradshaw 2:653433f4ee72 120 printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read());
jebradshaw 0:cf7192f9f99a 121 }
jebradshaw 2:653433f4ee72 122 wait(.2);
jebradshaw 0:cf7192f9f99a 123 this->set_point -= 1000;
jebradshaw 0:cf7192f9f99a 124 this->pid->setSetPoint(this->set_point);
jebradshaw 2:653433f4ee72 125 wait(.6);
jebradshaw 1:cd249816dba8 126
jebradshaw 1:cd249816dba8 127 while(*this->ptr_limit == 1){
jebradshaw 0:cf7192f9f99a 128 this->set_point += 10;
jebradshaw 0:cf7192f9f99a 129 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 130 wait(.02);
jebradshaw 0:cf7192f9f99a 131 if(this->debug)
jebradshaw 2:653433f4ee72 132 printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read());
jebradshaw 0:cf7192f9f99a 133 }
jebradshaw 0:cf7192f9f99a 134
jebradshaw 0:cf7192f9f99a 135 this->ls7366->LS7366_write_DTR(0); //zero encoder channel
jebradshaw 0:cf7192f9f99a 136 this->set_point = 0.0;
jebradshaw 0:cf7192f9f99a 137 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 138
jebradshaw 2:653433f4ee72 139 this->pid->setInputLimits(-(this->totalCounts)/2.0, 0.0); //reset span limits
jebradshaw 2:653433f4ee72 140 for(int positionCmd = 0;positionCmd > -this->totalCounts/2.0;positionCmd-=30){
jebradshaw 0:cf7192f9f99a 141 this->set_point = positionCmd; //move arm to center
jebradshaw 0:cf7192f9f99a 142 wait(.01);
jebradshaw 0:cf7192f9f99a 143 if(this->debug)
jebradshaw 2:653433f4ee72 144 printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read());
jebradshaw 0:cf7192f9f99a 145 }
jebradshaw 2:653433f4ee72 146 this->set_point = -(this->totalCounts)/2.0;
jebradshaw 0:cf7192f9f99a 147 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 148
jebradshaw 0:cf7192f9f99a 149 //let PID settle to set point
jebradshaw 0:cf7192f9f99a 150 while((this->enc > (this->set_point + 100)) || (this->enc < (this->set_point - 100))){
jebradshaw 2:653433f4ee72 151 if(this->debug)
jebradshaw 2:653433f4ee72 152 printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read());
jebradshaw 0:cf7192f9f99a 153 wait(.01);
jebradshaw 0:cf7192f9f99a 154 }
jebradshaw 0:cf7192f9f99a 155 //pc.printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f Pk=%.2f Ik=%.2f vel=%.3f acc=%.3f\r\n", t.read(), this->set_point, this->co, this->enc, this->pos, this->Pk, this->Ik, this->vel, this->acc);
jebradshaw 0:cf7192f9f99a 156
jebradshaw 0:cf7192f9f99a 157 this->ls7366->LS7366_write_DTR(0); //zero encoder channel
jebradshaw 0:cf7192f9f99a 158 this->set_point = 0.0;
jebradshaw 0:cf7192f9f99a 159 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 160
jebradshaw 2:653433f4ee72 161 this->pid->setInputLimits(-(this->totalCounts)/2.0, (this->totalCounts)/2.0); //reset span limits
jebradshaw 0:cf7192f9f99a 162 this->pid->setSetPoint(this->set_point);
jebradshaw 0:cf7192f9f99a 163
jebradshaw 2:653433f4ee72 164 if(this->debug)
jebradshaw 2:653433f4ee72 165 printf("HOME END:T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read());
jebradshaw 0:cf7192f9f99a 166 // pc.printf("End Home\r\n\r\n");
jebradshaw 0:cf7192f9f99a 167 }
jebradshaw 0:cf7192f9f99a 168
jebradshaw 2:653433f4ee72 169 void Axis::moveUpdate(void){
jebradshaw 2:653433f4ee72 170
jebradshaw 2:653433f4ee72 171 if(*this->ptr_limit == 0){
jebradshaw 2:653433f4ee72 172 this->moveState = 4; //terminate the move
jebradshaw 2:653433f4ee72 173 printf("\r\nLimit reached on axis!\r\n");
jebradshaw 2:653433f4ee72 174 }
jebradshaw 2:653433f4ee72 175 if(this->debug)
jebradshaw 2:653433f4ee72 176 printf("T=%.2f SP=%.3f co=%.3f pos=%.3f vel=%.3f acc=%.3f limit=%d motI=%.3f\r\n", t.read(), this->set_point, this->co, this->pos, this->vel, this->acc,*this->ptr_limit, this->_analog.read());
jebradshaw 2:653433f4ee72 177
jebradshaw 0:cf7192f9f99a 178 switch(this->moveState){
jebradshaw 0:cf7192f9f99a 179 case 0:
jebradshaw 0:cf7192f9f99a 180 break;
jebradshaw 0:cf7192f9f99a 181
jebradshaw 0:cf7192f9f99a 182 //accelerate
jebradshaw 0:cf7192f9f99a 183 case 1:
jebradshaw 0:cf7192f9f99a 184 //testOut = 1;
jebradshaw 0:cf7192f9f99a 185 this->vel_accum += this->acc_cmd * this->Tdelay; //add acceleration to the velocity accumulator
jebradshaw 0:cf7192f9f99a 186 if(this->vel_avg_cmd > 0.0){ //check the sign of the movement
jebradshaw 0:cf7192f9f99a 187 if(this->vel_accum >= this->vel_cmd) //if the accumulator reaches or exceeds the velocity command
jebradshaw 0:cf7192f9f99a 188 this->vel_accum = this->vel_cmd; // only add the velocity command to the accumulator
jebradshaw 0:cf7192f9f99a 189 }
jebradshaw 0:cf7192f9f99a 190 else{ //if the sign was negative
jebradshaw 0:cf7192f9f99a 191 if(this->vel_accum <= this->vel_cmd)
jebradshaw 0:cf7192f9f99a 192 this->vel_accum = this->vel_cmd;
jebradshaw 0:cf7192f9f99a 193 }
jebradshaw 0:cf7192f9f99a 194 //testOut = 0;
jebradshaw 0:cf7192f9f99a 195
jebradshaw 0:cf7192f9f99a 196 this->set_point += this->vel_accum;
jebradshaw 0:cf7192f9f99a 197 //pc.printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f vel=%.3f acc=%.3f vel_accum=%.2f accelCnt=%.2f \r\n", t.read(), con0.set_point, con0.co, con0.enc, con0.pos, con0.vel, con0.acc, vel_accum, accelCnt);
jebradshaw 0:cf7192f9f99a 198 //pc.printf("acc_up,%.2f,%.3f,%.1f,%.3f,%.3f,%.2f,%.2f\r\n", this->t.read(), this->set_point, this->pos, this->vel, this->acc, this->vel_accum, this->acc_cmd);
jebradshaw 0:cf7192f9f99a 199
jebradshaw 0:cf7192f9f99a 200 if(this->t.read()>=(this->moveTime/3.0) || (abs(this->vel_accum) > abs(this->vel_cmd)))
jebradshaw 0:cf7192f9f99a 201 this->moveState = 2;
jebradshaw 0:cf7192f9f99a 202 break;
jebradshaw 0:cf7192f9f99a 203
jebradshaw 0:cf7192f9f99a 204 //constant velocity
jebradshaw 0:cf7192f9f99a 205 case 2:
jebradshaw 0:cf7192f9f99a 206 //testOut = 1;
jebradshaw 0:cf7192f9f99a 207 //this->vel_accum += this->vel_cmd * this->Tdelay;
jebradshaw 0:cf7192f9f99a 208 this->set_point += this->vel_cmd;
jebradshaw 0:cf7192f9f99a 209 //testOut = 0;
jebradshaw 0:cf7192f9f99a 210 //pc.printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f vel=%.3f acc=%.3f vel_accum=%.2f accelCnt=%.2f \r\n", t.read(), con0.set_point, con0.co, con0.enc, con0.pos, con0.vel, con0.acc, vel_accum, accelCnt);
jebradshaw 0:cf7192f9f99a 211 //pc.printf("vel_cn,%.2f,%.3f,%.1f,%.3f,%.3f,%.2f,%.2f\r\n", this->t.read(), this->set_point, this->pos, this->vel, this->acc, this->vel_accum, this->acc_cmd);
jebradshaw 0:cf7192f9f99a 212
jebradshaw 0:cf7192f9f99a 213 if(this->t.read()>=(2.0/3.0 * this->moveTime))
jebradshaw 0:cf7192f9f99a 214 this->moveState = 3;
jebradshaw 0:cf7192f9f99a 215 break;
jebradshaw 0:cf7192f9f99a 216
jebradshaw 0:cf7192f9f99a 217 //decelerate
jebradshaw 0:cf7192f9f99a 218 case 3:
jebradshaw 0:cf7192f9f99a 219 this->vel_accum -= this->acc_cmd * this->Tdelay;
jebradshaw 0:cf7192f9f99a 220
jebradshaw 0:cf7192f9f99a 221 this->set_point += this->vel_accum; //ramp down velocity by acceleration
jebradshaw 0:cf7192f9f99a 222 //pc.printf("T=%.2f SP=%.3f co=%.3f enc=%d pos=%.3f vel=%.3f acc=%.3f vel_accum=%.2f accelCnt=%.2f \r\n", t.read(), con0.set_point, con0.co, con0.enc, con0.pos, con0.vel, con0.acc, vel_accum, accelCnt);
jebradshaw 0:cf7192f9f99a 223 //pc.printf("acc_dn,%.2f,%.3f,%.1f,%.3f,%.3f,%.2f,%.2f\r\n", this->t.read(), this->set_point, this->pos, this->vel, this->acc, this->vel_accum, this->acc_cmd);
jebradshaw 0:cf7192f9f99a 224
jebradshaw 0:cf7192f9f99a 225 if(this->vel_avg_cmd > 0.0){
jebradshaw 1:cd249816dba8 226 if(this->pos_cmd <= this->pos){
jebradshaw 1:cd249816dba8 227 //finish with position command
jebradshaw 1:cd249816dba8 228 this->set_point = this->pos_cmd;
jebradshaw 0:cf7192f9f99a 229 this->moveState = 4;
jebradshaw 1:cd249816dba8 230 }
jebradshaw 0:cf7192f9f99a 231 }
jebradshaw 0:cf7192f9f99a 232 else{
jebradshaw 1:cd249816dba8 233 if(this->pos_cmd >= this->pos){
jebradshaw 1:cd249816dba8 234 //finish with position command
jebradshaw 1:cd249816dba8 235 this->set_point = this->pos_cmd;
jebradshaw 1:cd249816dba8 236 this->moveState = 4;
jebradshaw 1:cd249816dba8 237 }
jebradshaw 0:cf7192f9f99a 238 }
jebradshaw 0:cf7192f9f99a 239
jebradshaw 0:cf7192f9f99a 240 if(this->t.read()>=this->moveTime){
jebradshaw 1:cd249816dba8 241 //finish with position command
jebradshaw 1:cd249816dba8 242 this->set_point = this->pos_cmd;
jebradshaw 0:cf7192f9f99a 243 this->moveState = 4;
jebradshaw 0:cf7192f9f99a 244 }
jebradshaw 0:cf7192f9f99a 245 break;
jebradshaw 0:cf7192f9f99a 246
jebradshaw 0:cf7192f9f99a 247 case 4:
jebradshaw 0:cf7192f9f99a 248 this->moveProfile.detach(); //turn off the trapazoidal update ticker
jebradshaw 0:cf7192f9f99a 249 this->t.stop();
jebradshaw 0:cf7192f9f99a 250 this->moveState = 0;
jebradshaw 0:cf7192f9f99a 251 break;
jebradshaw 0:cf7192f9f99a 252 }//switch moveStatus
jebradshaw 0:cf7192f9f99a 253 return;
jebradshaw 0:cf7192f9f99a 254 }
jebradshaw 0:cf7192f9f99a 255
jebradshaw 0:cf7192f9f99a 256 // position - encoder position to move to
jebradshaw 0:cf7192f9f99a 257 // time - duration of the movement
jebradshaw 0:cf7192f9f99a 258 void Axis::moveTrapezoid(float positionCmd, float time){
jebradshaw 0:cf7192f9f99a 259 this->pos_cmd = positionCmd;
jebradshaw 0:cf7192f9f99a 260 this->moveTime = time;
jebradshaw 0:cf7192f9f99a 261 float enc_distance = pos_cmd - (float)this->enc;// * 1.0/con0.countsPerDeg * 180.0/PI;
jebradshaw 0:cf7192f9f99a 262
jebradshaw 0:cf7192f9f99a 263 this->vel_avg_cmd = enc_distance / time;
jebradshaw 0:cf7192f9f99a 264 this->vel_cmd = 1.5 * this->vel_avg_cmd * this->Tdelay;
jebradshaw 0:cf7192f9f99a 265 this->acc_cmd = 4.5 * (enc_distance / (this->moveTime * this->moveTime)) * this->Tdelay;
jebradshaw 0:cf7192f9f99a 266
jebradshaw 0:cf7192f9f99a 267 //pc.printf("tx=%f encdist=%.3f vAvg=%.3f vMax=%.3f Acc=%.3f \r\n", this->moveTime, enc_distance,this->vel_avg_cmd,this->vel_cmd,this->acc_cmd);
jebradshaw 0:cf7192f9f99a 268
jebradshaw 0:cf7192f9f99a 269 //establish encoder velocities and accelerations for position control per Tdelay
jebradshaw 0:cf7192f9f99a 270 this->vel_accum = 0.0;
jebradshaw 0:cf7192f9f99a 271
jebradshaw 0:cf7192f9f99a 272 // this->set_point = this->pos;
jebradshaw 0:cf7192f9f99a 273 this->moveState = 1;
jebradshaw 0:cf7192f9f99a 274 this->t.reset();
jebradshaw 0:cf7192f9f99a 275 this->t.start();
jebradshaw 0:cf7192f9f99a 276 this->moveProfile.attach(this, &Axis::moveUpdate, this->Tdelay);
jebradshaw 0:cf7192f9f99a 277 }
jebradshaw 2:653433f4ee72 278
jebradshaw 3:71447d4fb4f0 279 float Axis::readCurrent(void){
jebradshaw 3:71447d4fb4f0 280 this->motCurrent = this->_analog.read() * 3.3;
jebradshaw 3:71447d4fb4f0 281 return this->motCurrent;
jebradshaw 2:653433f4ee72 282 }
jebradshaw 2:653433f4ee72 283
jebradshaw 2:653433f4ee72 284 void Axis::axisOff(void){
jebradshaw 2:653433f4ee72 285 update.detach();
jebradshaw 2:653433f4ee72 286 this->axisState = 0;
jebradshaw 2:653433f4ee72 287 }
jebradshaw 2:653433f4ee72 288
jebradshaw 2:653433f4ee72 289 void Axis::axisOn(void){
jebradshaw 2:653433f4ee72 290 update.attach(this, &Axis::paramUpdate, Tdelay);
jebradshaw 2:653433f4ee72 291 this->axisState = 1;
jebradshaw 2:653433f4ee72 292 }