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uStepper S-lite
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Prototype of class for the AS5600 encoder. More...
#include <uStepperSLite.h>
Public Member Functions | |
| uStepperEncoder (void) | |
| Constructor. More... | |
| float | getAngle (void) |
| Measure the current shaft angle. More... | |
| float | getSpeed (bool unit=SPS) |
| Measure the current speed of the motor. More... | |
| uint16_t | getStrength (void) |
| Measure the strength of the magnet. More... | |
| uint8_t | getAgc (void) |
| Read the current AGC value of the encoder chip. More... | |
| uint8_t | detectMagnet (void) |
| Detect if magnet is present and within range. More... | |
| float | getAngleMoved (void) |
| Measure the angle moved from reference position. More... | |
| void | setup (void) |
| Setup the encoder. More... | |
| void | setHome (void) |
| Define new reference(home) position. More... | |
Public Attributes | |
| volatile int32_t | angleMoved |
| uint16_t | encoderOffset |
| volatile uint16_t | oldAngle |
| volatile uint16_t | angle |
| volatile float | curSpeed |
Friends | |
| void | used |
| void | TIMER1_COMPA_vect (void) __attribute__((signal |
| Measures angle and speed of motor. More... | |
Prototype of class for the AS5600 encoder.
This class enables the user of the library to access the AS5600
encoder on the uStepper S-lite board. This class can be instantiated as
a standalone object if all the features of the uStepper S-lite is not
needed by the programmers specific application.
Definition at line 303 of file uStepperSLite.h.
| uStepperEncoder::uStepperEncoder | ( | void | ) |
Constructor.
This is the constructor of the uStepperEncoder class.
Definition at line 419 of file uStepperSLite.cpp.
| uint8_t uStepperEncoder::detectMagnet | ( | void | ) |
Detect if magnet is present and within range.
This function detects whether the magnet is present, too
strong or too weak.
Definition at line 494 of file uStepperSLite.cpp.
| uint8_t uStepperEncoder::getAgc | ( | void | ) |
Read the current AGC value of the encoder chip.
This function returns the current value of the AGC register
in the encoder chip (AS5600). This value ranges between 0 and
255, and should preferably be as close to 128 as possible.
Definition at line 485 of file uStepperSLite.cpp.
| float uStepperEncoder::getAngle | ( | void | ) |
Measure the current shaft angle.
This function reads the current angle of the motor shaft. The
resolution of the angle returned by this function is
0.087890625 degrees (12 bits) The Angle is read by means of
the I2C interface, using the I2C interface implemented in
this library.
Definition at line 469 of file uStepperSLite.cpp.
| float uStepperEncoder::getAngleMoved | ( | void | ) |
Measure the angle moved from reference position.
This function measures the angle moved from the shaft
reference position. When the uStepper S-lite is first powered on,
the reference position is reset to the current shaft
position, meaning that this function will return the angle
rotated with respect to the angle the motor initially had. It
should be noted that this function is absolute to an
arbitrary number of revolutions !
The reference position can be reset at any point in time, by
use of the setHome() function.
Definition at line 424 of file uStepperSLite.cpp.
| float uStepperEncoder::getSpeed | ( | bool | unit = SPS | ) |
Measure the current speed of the motor.
This function returns the current speed of the motor. The
speed is not calculated in this function, it is merely
returning a variable. The speed is calculated in the
interrupt routine associated with timer1.
| unit | - Return unit for speed, set to either "SPS" Steps Per Second (default) or "RPM" (without the quotes). |
Definition at line 429 of file uStepperSLite.cpp.
| uint16_t uStepperEncoder::getStrength | ( | void | ) |
Measure the strength of the magnet.
This function returns the strength of the magnet.
Definition at line 474 of file uStepperSLite.cpp.
| void uStepperEncoder::setHome | ( | void | ) |
Define new reference(home) position.
This function redefines the reference position to the current
angle of the shaft
Definition at line 451 of file uStepperSLite.cpp.
| void uStepperEncoder::setup | ( | void | ) |
Setup the encoder.
This function initializes all the encoder features.
Definition at line 441 of file uStepperSLite.cpp.
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friend |
Measures angle and speed of motor.
This interrupt routine is in charge of sampling the encoder and
measure the current speed of the motor.
Definition at line 139 of file uStepperSLite.cpp.
| volatile uint16_t uStepperEncoder::angle |
This variable always contain the current rotor angle, relative to a single revolution
Definition at line 320 of file uStepperSLite.h.
| volatile int32_t uStepperEncoder::angleMoved |
Variable used to store the angle moved from the reference position
Definition at line 308 of file uStepperSLite.h.
| volatile float uStepperEncoder::curSpeed |
Variable used to store the current rotational speed of the motor shaft
Definition at line 324 of file uStepperSLite.h.
| uint16_t uStepperEncoder::encoderOffset |
Angle of the shaft at the reference position.
Definition at line 311 of file uStepperSLite.h.
| volatile uint16_t uStepperEncoder::oldAngle |
Used to stored the previous measured angle for the speed measurement, and the calculation of angle moved from reference position
Definition at line 316 of file uStepperSLite.h.
1.8.18