Diff: Axis.h

Revision:

8:7e399d7c990d

Parent:

7:d0458137d6e0

Child:

9:7bc59203ce98

--- a/Axis.h	Thu May 19 12:41:53 2016 +0000
+++ b/Axis.h	Mon Jul 11 18:26:26 2016 +0000
@@ -10,7 +10,7 @@
 
 class Axis{
 public:
-    Axis(SPI& _spi, PinName _cs, PinName _pwm, PinName _dir, PinName _analog, int* limit, float totalCnts);    
+    Axis(SPI& _spi, PinName _cs, PinName _pwm, PinName _dir, PinName _analog, int* limit);    
     void paramUpdate(void);
     void center(void);
     void init(void);
@@ -20,6 +20,7 @@
     void axisOff(void);
     void axisOn(void);
     void zero(void);
+    void writeEncoderValue(long value);
     
     long enc;       //used to return the data from the LS7366 encoder chip
     float co;       // = 0.0;
@@ -30,6 +31,7 @@
     float set_point;// = 0.0;
     float set_point_last;
     float pos, vel, acc;    //calculated position, velocity, and acceleration
+    int stat;               //overall axis status
     float pos_last, vel_last, acc_last; //history variables used to calculate motion
     float pos_cmd, vel_cmd, vel_avg_cmd, acc_cmd;    
     float vel_max, acc_max;
@@ -40,12 +42,14 @@
     int moveState;
     int debug;
     int *ptr_limit;
-    float totalCounts;
     float motCurrent;   //motor current read from readCurrent() function
     float mot_I_lim;    //max current limit
     int axisState;
     int motInvert;
     char dataFormat;    //'r'=radians (default), 'd'=degrees, 'e'=encoder counts
+    float pos_rad, vel_rad;      //current position measurement in radians
+    float pos_deg, vel_deg;  //current position measurement in degrees
+    float ctsPerDeg;
 
     Ticker update;
     Ticker moveProfile;