mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-23 17:08:15 +08:00
Samuel Sadok
a2378dbf79
These two activities are now separate states of the axis state machine. Each of them can be invoked independently at any time (provided the motor is calibrated).
87 lines
3.2 KiB
C++
87 lines
3.2 KiB
C++
#ifndef __ENCODER_HPP
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#define __ENCODER_HPP
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#ifndef __ODRIVE_MAIN_HPP
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#error "This file should not be included directly. Include odrive_main.hpp instead."
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#endif
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struct EncoderConfig_t {
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bool use_index = false;
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bool pre_calibrated = false; // If true, this means the offset stored in
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// configuration is valid and does not need
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// be determined by run_offset_calibration.
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// In this case the encoder will enter ready
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// state as soon as the index is found.
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float idx_search_speed = 10.0f; // [rad/s electrical]
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int32_t cpr = (2048 * 4); // Default resolution of CUI-AMT102 encoder,
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int32_t offset = 0; // If pre_calibrated is true, this is copied into encoder.offset_ once
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// index search succeeds
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float calib_range = 0.02;
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};
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class Encoder {
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public:
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enum Error_t {
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ERROR_NONE,
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ERROR_NUMERICAL,
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ERROR_CPR_OUT_OF_RANGE,
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ERROR_RESPONSE,
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};
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Encoder(const EncoderHardwareConfig_t& hw_config,
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EncoderConfig_t& config);
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void setup();
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void enc_index_cb();
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void set_count(int32_t count);
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bool calib_enc_offset(float voltage_magnitude);
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bool scan_for_enc_idx(float omega, float voltage_magnitude);
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bool run_index_search();
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bool run_offset_calibration();
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bool update(float* pos_estimate, float* vel_estimate, float* phase);
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const EncoderHardwareConfig_t& hw_config_;
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EncoderConfig_t& config_;
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Axis* axis_ = nullptr; // set by Axis constructor
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Error_t error_ = ERROR_NONE;
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bool index_found_ = false;
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bool is_ready_ = false;
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int32_t state_ = 0;
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int32_t offset_ = 0;
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float phase_ = 0.0f; // [rad]
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float pll_pos_ = 0.0f; // [rad]
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float pll_vel_ = 0.0f; // [rad/s]
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float pll_kp_ = 0.0f; // [rad/s / rad]
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float pll_ki_ = 0.0f; // [(rad/s^2) / rad]
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// Communication protocol definitions
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auto make_protocol_definitions() {
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return make_protocol_member_list(
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make_protocol_property("error", &error_),
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make_protocol_ro_property("is_ready", &is_ready_),
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make_protocol_ro_property("index_found", const_cast<bool*>(&index_found_)),
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make_protocol_property("state", &state_),
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make_protocol_property("offset", &offset_),
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make_protocol_property("phase", &phase_),
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make_protocol_property("pll_pos", &pll_pos_),
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make_protocol_property("pll_vel", &pll_vel_),
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make_protocol_property("pll_kp", &pll_kp_),
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make_protocol_property("pll_ki", &pll_ki_),
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make_protocol_object("config",
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make_protocol_property("use_index", &config_.use_index),
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make_protocol_property("pre_calibrated", &config_.pre_calibrated),
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make_protocol_property("idx_search_speed", &config_.idx_search_speed),
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make_protocol_property("cpr", &config_.cpr),
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make_protocol_property("offset", &config_.offset),
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make_protocol_property("calib_range", &config_.calib_range)
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)
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);
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}
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};
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#endif // __ENCODER_HPP
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