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Merge pull request #507 from madcowswe/move-thermistors

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Change thermistors from top-level to Motor
This commit is contained in:
samuelsadok
2020-10-21 10:47:31 +02:00
committed by GitHub
parent ad1b34b426 fd848f2c36
commit 16836576bd
15 changed files with 82 additions and 101 deletions
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Firmware/MotorControl/axis.cpp
+3 -19
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@@ -14,8 +14,6 @@ Axis::Axis(int axis_num,
Encoder& encoder,
SensorlessEstimator& sensorless_estimator,
Controller& controller,
OnboardThermistorCurrentLimiter& fet_thermistor,
OffboardThermistorCurrentLimiter& motor_thermistor,
Motor& motor,
TrapezoidalTrajectory& trap,
Endstop& min_endstop,
@@ -28,25 +26,15 @@ Axis::Axis(int axis_num,
encoder_(encoder),
sensorless_estimator_(sensorless_estimator),
controller_(controller),
fet_thermistor_(fet_thermistor),
motor_thermistor_(motor_thermistor),
motor_(motor),
trap_traj_(trap),
min_endstop_(min_endstop),
max_endstop_(max_endstop),
mechanical_brake_(mechanical_brake),
current_limiters_(make_array(
static_cast<CurrentLimiter*>(&fet_thermistor),
static_cast<CurrentLimiter*>(&motor_thermistor))),
thermistors_(make_array(
static_cast<ThermistorCurrentLimiter*>(&fet_thermistor),
static_cast<ThermistorCurrentLimiter*>(&motor_thermistor)))
mechanical_brake_(mechanical_brake)
{
encoder_.axis_ = this;
sensorless_estimator_.axis_ = this;
controller_.axis_ = this;
fet_thermistor_.axis_ = this;
motor_thermistor.axis_ = this;
motor_.axis_ = this;
trap_traj_.axis_ = this;
min_endstop_.axis_ = this;
@@ -180,9 +168,6 @@ bool Axis::do_checks() {
// Sub-components should use set_error which will propegate to this error_
motor_.effective_current_lim();
for (ThermistorCurrentLimiter* thermistor : thermistors_) {
thermistor->do_checks();
}
motor_.do_checks();
// encoder_.do_checks();
// sensorless_estimator_.do_checks();
@@ -201,11 +186,10 @@ bool Axis::do_checks() {
// @brief Update all esitmators
bool Axis::do_updates() {
// Sub-components should use set_error which will propegate to this error_
for (ThermistorCurrentLimiter* thermistor : thermistors_) {
thermistor->update();
}
encoder_.update();
sensorless_estimator_.update();
motor_.fet_thermistor_.update();
motor_.motor_thermistor_.update();
min_endstop_.update();
max_endstop_.update();
bool ret = check_for_errors();