DriveParam.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
 
#ifndef DRIVEPARAM_INCLUDEDEF_H
#define DRIVEPARAM_INCLUDEDEF_H
 
//-----------------------------------------------
 
 
class DriveParam
{
 
private:
 
        int m_iDriveIdent;
        int m_iEncIncrPerRevMot;        // encoder increments per revolution motor shaft
        double m_dVelMeasFrqHz;         // only used for Neo drive, else = 1
        double m_dGearRatio;            //
        double m_dBeltRatio;            // if drive has belt set ratio, else = 1
        int m_iSign;                            // direction of motion
        double m_dVelMaxEncIncrS;       // max. veloctiy
        double m_dAccIncrS2;            // max. acceleration
        double m_dDecIncrS2;            // max. decelration
        double m_dPosGearRadToPosMotIncr;
        int m_iEncOffsetIncr;           // Position in Increments of Steerwheel when Homingposition
                                        //  is reached (only needed forCoB3)
        int m_iHomingDigIn; // specifies which digital input is used for homing signal, standart 11 is good for COB3, 19 for Cob3_5
        bool m_bIsSteer;                // needed to distinguish motors for initializing
    double m_dCurrToTorque;             // factor to convert motor active current [A] into torque [Nm]
        double m_dCurrMax;              // max. current allowed
 
public:
 
        DriveParam()
        {
 
                m_bIsSteer = true; //has to be set, because it is checked for absolute / relative positioning
 
        }
 
        void setParam(
                int iDriveIdent,
                int iEncIncrPerRevMot,
                double dVelMeasFrqHz,
                double dBeltRatio,
                double dGearRatio,
                int iSign,
                double dVelMaxEncIncrS,
                double dAccIncrS2,
                double dDecIncrS2)
        {
 
                m_iDriveIdent = iDriveIdent;
                m_iEncIncrPerRevMot = iEncIncrPerRevMot;
                m_dVelMeasFrqHz = dVelMeasFrqHz;
                m_dBeltRatio = dBeltRatio;
                m_dGearRatio = dGearRatio;
                m_iSign = iSign;
                m_dVelMaxEncIncrS = dVelMaxEncIncrS;
                m_dAccIncrS2 = dAccIncrS2;
                m_dDecIncrS2 = dDecIncrS2;
 
                m_iHomingDigIn = 11; //for Cob3
 
                double dPI = 3.14159265358979323846;
 
                m_dPosGearRadToPosMotIncr = m_iEncIncrPerRevMot * m_dGearRatio
                        * m_dBeltRatio / (2. * dPI);
        }
 
        //Overloaded Method for CoB3
        void setParam(
                int iDriveIdent,
                int iEncIncrPerRevMot,
                double dVelMeasFrqHz,
                double dBeltRatio,
                double dGearRatio,
                int iSign,
                double dVelMaxEncIncrS,
                double dAccIncrS2,
                double dDecIncrS2,
                int iEncOffsetIncr,
                bool bIsSteer,
        double dCurrToTorque,
                double dCurrMax)
        {
 
                m_iDriveIdent = iDriveIdent;
                m_iEncIncrPerRevMot = iEncIncrPerRevMot;
                m_dVelMeasFrqHz = dVelMeasFrqHz;
                m_dBeltRatio = dBeltRatio;
                m_dGearRatio = dGearRatio;
                m_iSign = iSign;
                m_dVelMaxEncIncrS = dVelMaxEncIncrS;
                m_dAccIncrS2 = dAccIncrS2;
                m_dDecIncrS2 = dDecIncrS2;
                m_iEncOffsetIncr = iEncOffsetIncr;
                m_bIsSteer = bIsSteer;
 
                m_iHomingDigIn = 11; //for Cob3
 
                double dPI = 3.14159265358979323846;
 
                m_dPosGearRadToPosMotIncr = m_iEncIncrPerRevMot * m_dGearRatio
                        * m_dBeltRatio / (2. * dPI);
 
        m_dCurrToTorque = dCurrToTorque;
                m_dCurrMax = dCurrMax;
        }
 
        //Overloaded Method for CoB3 including new feature HomingDigIn, for compatibility reasons overloaded
        void setParam(
                int iDriveIdent,
                int iEncIncrPerRevMot,
                double dVelMeasFrqHz,
                double dBeltRatio,
                double dGearRatio,
                int iSign,
                double dVelMaxEncIncrS,
                double dAccIncrS2,
                double dDecIncrS2,
                int iEncOffsetIncr,
                bool bIsSteer,
        double dCurrToTorque,
                double dCurrMax,
                int iHomingDigIn)
        {
 
                m_iDriveIdent = iDriveIdent;
                m_iEncIncrPerRevMot = iEncIncrPerRevMot;
                m_dVelMeasFrqHz = dVelMeasFrqHz;
                m_dBeltRatio = dBeltRatio;
                m_dGearRatio = dGearRatio;
                m_iSign = iSign;
                m_dVelMaxEncIncrS = dVelMaxEncIncrS;
                m_dAccIncrS2 = dAccIncrS2;
                m_dDecIncrS2 = dDecIncrS2;
                m_iEncOffsetIncr = iEncOffsetIncr;
                m_bIsSteer = bIsSteer;
 
                double dPI = 3.14159265358979323846;
 
                m_dPosGearRadToPosMotIncr = m_iEncIncrPerRevMot * m_dGearRatio
                        * m_dBeltRatio / (2. * dPI);
 
        m_dCurrToTorque = dCurrToTorque;
                m_dCurrMax = dCurrMax;
                m_iHomingDigIn = iHomingDigIn;
        }
 
        int getDriveIdent()
        {
                return m_iDriveIdent;
        }
 
        int getSign()
        {
                return m_iSign;
        }
 
        double getVelMax()
        {
                return m_dVelMaxEncIncrS;
        }
 
        void PosVelRadToIncr(double dPosRad, double dVelRadS, int* piPosIncr, int* piVelIncrPeriod)
        {
                *piPosIncr = PosGearRadToPosMotIncr(dPosRad);
                *piVelIncrPeriod = VelGearRadSToVelMotIncrPeriod(dVelRadS);
        }
 
        int TempMeasIncrToGradCel(int iTempIncr)
        {
                double dTempMeasGradCel;
 
                dTempMeasGradCel = 0.0002 * (iTempIncr * iTempIncr) - 0.2592 * iTempIncr + 105;
 
                return (int)dTempMeasGradCel;
        }
 
        int PosGearRadToPosMotIncr(double dPosGearRad)
        {
                return ((int)(dPosGearRad * m_dPosGearRadToPosMotIncr));
        }
 
        double PosMotIncrToPosGearRad(int iPosIncr)
        {
                return ((double)iPosIncr / m_dPosGearRadToPosMotIncr);
        }
 
        int VelGearRadSToVelMotIncrPeriod(double dVelGearRadS)
        {
                return ((int)(dVelGearRadS * m_dPosGearRadToPosMotIncr / m_dVelMeasFrqHz));
        }
 
        double VelMotIncrPeriodToVelGearRadS(int iVelMotIncrPeriod)
        {
                return ((double)iVelMotIncrPeriod / m_dPosGearRadToPosMotIncr * m_dVelMeasFrqHz);
        }
 
        void setMaxAcc(double dMaxAcc)
        {
                m_dAccIncrS2 = dMaxAcc;
        }
 
        double getMaxAcc()
        {
                return m_dAccIncrS2;
        }
 
        void setMaxDec(double dMaxDec)
        {
                m_dDecIncrS2 = dMaxDec;
        }
 
        double getMaxDec()
        {
                return m_dDecIncrS2;
        }
 
        void setMaxVel(double dMaxVel)
        {
                m_dVelMaxEncIncrS = dMaxVel;
        }
 
        double getMaxVel()
        {
                return m_dVelMaxEncIncrS;
        }
 
        double getGearRatio()
        {
                return m_dGearRatio;
        }
        double getBeltRatio()
        {
                return m_dBeltRatio;
        }
 
        int getEncOffset()
        {
                return m_iEncOffsetIncr;
        }
 
        bool getIsSteer()
        {
                return m_bIsSteer;
        }
        int getEncIncrPerRevMot()
        {
                return m_iEncIncrPerRevMot;
        }
        double getCurrToTorque()
        {
                return m_dCurrToTorque;
        }
        double getCurrMax()
        {
                return m_dCurrMax;
        }
        int getHomingDigIn()
        {
                return m_iHomingDigIn;
        }
        void setHomingDigIn(int HomingDigIn)
        {
                m_iHomingDigIn = HomingDigIn;
        }
};
//-----------------------------------------------
#endif