5125602875
change setPwm function in FOCDriver to accept 3 args, with a default value for the 3rd Change stepper driver classes to use 3 arg setPwm, ignoring 3rd arg. created InlineCurrentSenseSync class in lib/currentsense. fixed timer bug in calibrate encoder, in main defined a label for serialusb, to make it easier to swap out.
69 lines
1.9 KiB
C++
69 lines
1.9 KiB
C++
#ifndef STEPPER_DRIVER_2PWM_h
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#define STEPPER_DRIVER_2PWM_h
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#include "../common/base_classes/StepperDriver.h"
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#include "../common/foc_utils.h"
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#include "../common/time_utils.h"
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#include "../common/defaults.h"
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#include "hardware_api.h"
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/**
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2 pwm stepper driver class
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*/
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class StepperDriver2PWM: public StepperDriver
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{
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public:
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/**
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StepperMotor class constructor
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@param pwm1 PWM1 phase pwm pin
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@param in1 IN1A phase dir pin
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@param pwm2 PWM2 phase pwm pin
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@param in2 IN2A phase dir
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@param en1 enable pin phase 1 (optional input)
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@param en2 enable pin phase 2 (optional input)
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*/
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StepperDriver2PWM(int pwm1, int* in1, int pwm2, int* in2, int en1 = NOT_SET, int en2 = NOT_SET);
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/**
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StepperMotor class constructor
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@param pwm1 PWM1 phase pwm pin
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@param dir1 DIR1 phase dir pin
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@param pwm2 PWM2 phase pwm pin
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@param dir2 DIR2 phase dir pin
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@param en1 enable pin phase 1 (optional input)
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@param en2 enable pin phase 2 (optional input)
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*/
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StepperDriver2PWM(int pwm1, int dir1, int pwm2, int dir2, int en1 = NOT_SET, int en2 = NOT_SET);
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/** Motor hardware init function */
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int init() override;
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/** Motor disable function */
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void disable() override;
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/** Motor enable function */
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void enable() override;
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// hardware variables
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int pwm1; //!< phase 1 pwm pin number
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int dir1a; //!< phase 1 INA pin number
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int dir1b; //!< phase 1 INB pin number
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int pwm2; //!< phase 2 pwm pin number
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int dir2a; //!< phase 2 INA pin number
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int dir2b; //!< phase 2 INB pin number
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int enable_pin1; //!< enable pin number phase 1
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int enable_pin2; //!< enable pin number phase 2
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/**
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* Set phase voltages to the harware
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*
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* @param Ua phase A voltage
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* @param Ub phase B voltage
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*/
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void setPwm(float Ua, float Ub, float NOT_USED=NOT_SET) override;
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private:
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};
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#endif
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