N K / Mbed 2 deprecated analoghalls5_5

working-est copy with class-based code. still open loop

Dependencies:   mbed

Fork of analoghalls6 by N K

motor.cpp

Committer:
nki
Date:
2015-03-08
Revision:
10:b4abecccec7a
Parent:
6:99ee0ce47fb2
Child:
7:76d6ceb23e0d

File content as of revision 10:b4abecccec7a:

#include "includes.h"
#include "core.h"
#include "sensors.h"

Motor::Motor(CurrentSensor *sense_c, CurrentSensor *sense_b, PositionSensor *sense_p, TempSensor *sense_t) {
    _sense_c = sense_c;
    _sense_b = sense_b;
    _sense_p = sense_p;
    _sense_t = sense_t;
    UpdateState();
}

float Motor::UpdateCurrentC() {
    return I_c = _sense_c->GetCurrent();
}

float Motor::UpdateCurrentB() {
    return I_b = _sense_b->GetCurrent();
}

float Motor::UpdatePosition() {
    return angle = _sense_p->GetPosition();
}

float Motor::UpdateTemp() {
    return temp = _sense_t->GetTemp();
}

void Motor::UpdateState() {
    UpdateCurrentC();
    UpdateCurrentB();
    UpdatePosition();
}

void Motor::Config(int num_poles, float kv) {
    _num_poles = num_poles;
    _kv = kv;
}