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

Diff: Axis.h

Revision:
1:cd249816dba8
Parent:
0:cf7192f9f99a
Child:
2:653433f4ee72
--- a/Axis.h	Mon Aug 31 17:14:20 2015 +0000
+++ b/Axis.h	Thu Sep 24 16:47:02 2015 +0000
@@ -4,13 +4,13 @@
 #define MBED_ROBOTARM_H
  
 #include "mbed.h"
-#include "PID.h"
-#include "LS7366.h"
-#include "MotCon.h"
+#include "PID.h"        //library for software routine PID controller
+#include "LS7366.h"     //library for quadrature encoder interface IC's
+#include "MotCon.h"     //simple motor control routines
 
 class Axis{
 public:
-    Axis(SPI& _spi, PinName _cs, PinName _pwm, PinName _dir, PinName _limit);    
+    Axis(SPI& _spi, PinName _cs, PinName _pwm, PinName _dir, int* limit);    
     void paramUpdate(void);
     void home(long halfcounts);
     void init(float);
@@ -36,6 +36,7 @@
     int moveStatus;
     int moveState;
     int debug;
+    int *ptr_limit;
     
     float countsPerDeg;        //number of counts/revolution
 
@@ -50,8 +51,7 @@
     SPI _spi;
     DigitalOut _cs;
     PwmOut _pwm;
-    DigitalOut _dir;
-    DigitalIn _limit;    
+    DigitalOut _dir;    
 };
 
 #endif