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Compiled motorDriver

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New motorDriver design...
This commit is contained in:
Asbelos
2020-08-15 11:32:32 +01:00
parent ddc3917519
commit cdcb01d300
12 changed files with 58 additions and 210 deletions
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13
MotorDriver.cpp
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@@ -31,7 +31,8 @@
#define ReadPin digitalRead
#endif
MotorDriver::MotorDriver(byte power_pin, int signal_pin, int signal_pin2, int brake_pin, int current_pin, float sense_factor, int fault_pin) {
MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin,
byte current_pin, float sense_factor, unsigned int trip_milliamps, byte fault_pin) {
powerPin=power_pin;
signalPin=signal_pin;
signalPin2=signal_pin2;
@@ -39,8 +40,8 @@ MotorDriver::MotorDriver(byte power_pin, int signal_pin, int signal_pin2, int br
currentPin=current_pin;
senseFactor=sense_factor;
faultPin=fault_pin;
I32=(int) (32000 / sensefactor);
tripMilliamps=trip_milliamps;
rawCurrentTripValue=(int)(trip_milliamps / sense_factor);
pinMode(powerPin, OUTPUT);
pinMode(brakePin, OUTPUT);
pinMode(signalPin, OUTPUT);
@@ -64,14 +65,14 @@ void MotorDriver::setSignal( bool high) {
int MotorDriver::getCurrentRaw() {
if (faultPin != UNUSED_PIN && ReadPin(faultPin) == LOW && ReadPin(powerPin) == HIGH)
return I32:
return (int)(32000/senseFactor);
// IMPORTANT: This function can be called in Interrupt() time within the 56uS timer
// The default analogRead takes ~100uS which is catastrphic
// so analogReadFast is used here. (-2uS)
return analogReadFast(sensePin);
return analogReadFast(currentPin);
}
unsigned int MortorDriver::convertRawToMilliamps( int raw) {
unsigned int MotorDriver::convertToMilliamps( int raw) {
return (unsigned int)(raw * senseFactor);
}