Alle Libraries eingefügt.

2024-07-18 11:59:36 +02:00
parent d62c0e58a9
commit 80b797ab6c
5 changed files with 430 additions and 0 deletions
--- a/Libraries/PRG_342/prg_342.h
+++ b/Libraries/PRG_342/prg_342.h
@@ -0,0 +1,73 @@
+#ifndef PRG_342_H
+#define PRG_342_H
+
+#include "Arduino.h"
+
+class PRG_342 {
+public:
+    PRG_342();  // Standardkonstruktor
+    PRG_342(float k_faktor);
+    ~PRG_342(); // Standarddestruktor
+
+    unsigned int ActOut;
+    static const int TORQUE_OUT_PIN = DAC1;
+
+    unsigned int getSetPoint(unsigned char format);
+    unsigned int getOutVolt();
+    void tareTorque();
+    void tareAngle();
+    void updateActOut(int actTorque);
+    int getTorque(int offset = true);
+    //int getTorque(int offset, unsigned int COUNTS);
+    int getTorque(int offset, float ALPHA);
+    int getAngle();
+    static volatile bool isRunning;
+    //void setOutput(unsigned int value);
+    //void setOutput(unsigned int value, bool noLimits = false, bool onlyWhenRunning = false);
+    void setOutput(unsigned int value, bool onlyWhenRunning = false);
+    void setOutput(int startValue, int endValue, int mA_per_ms);
+    void safeShutdown();
+    void safeShutdown(unsigned int time);
+    void safeShutdown(unsigned int time, unsigned int value);
+    void DynDecog(unsigned int actValue);
+    void AutoDecog();
+
+    float getRotationSpeed();
+
+private:
+    int getActTorque();
+    void updateActTorqueOut();
+    void updateValA0();
+    void updateValA1();
+    static void updateEncoder(); // Statische ISR-Funktion
+    float K_FAKTOR;
+
+    static volatile int encoderPos; // Encoderposition
+    static volatile int lastEncoderPos; // Encoderposition
+    static volatile int lastEncoded; // Letzter enkodierter Zustand
+    static volatile int ANGLE; // Winkel
+
+    static const int EncoderPinA = 22;
+    static const int EncoderPinB = 23;
+    static const int EncoderPinN = 24;
+    
+    static const int DMS_PIN = A0;
+    static const int EXTSET_PIN = A1;
+    static const int ACT_OUT_PIN = DAC0;
+
+    static int valA0;
+    static int valA1;
+
+    static int filteredValA1;
+
+    float exponentialFilter(float currentValue, float previousFilteredValue, float alpha);
+
+    int TORQUE;
+    int OFFSET;
+    unsigned int SETPOINT;
+    unsigned long lastSpeedCalcTime;
+    int lastAngle;
+
+};
+
+#endif