68 lines
1.3 KiB
C
68 lines
1.3 KiB
C
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#ifndef LinearHallSensor_h
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#define LinearHallSensor_h
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#include "Arduino.h"
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#include "BLDCMotor.h"
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enum Slope : int8_t{
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INCREASING = 1,
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DECREASING = -1,
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EQUAL = 0
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};
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/**
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* @brief Linear Hall sensor class
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*
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*/
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class LinearHallSensor
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{
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public:
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/**
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Linear Hall Sensor class constructor
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@param ch1 Analog pin for channel 1
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@param ch2 Analog pin for channel 2
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*/
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LinearHallSensor(uint8_t ch1, uint8_t ch2);
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/**
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* @brief Initialize variable by measuring max and min value
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*
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*/
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void init(BLDCMotor motor);
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/**
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* @brief Read the sensors and return the current angle in rad
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*
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* @return rad and angle
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*/
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float readSensorCallbackStateMachine();
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float readSensorCallback();
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private:
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uint8_t _analogPin1;
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uint8_t _analogPin2;
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uint16_t _maxCh1;
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uint16_t _maxCh2;
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uint16_t _minCh1;
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uint16_t _minCh2;
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float _currentPosition;
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float _offset;
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float _minPositionEndValue;
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float _maxPositionEndValue;
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uint16_t _prevCh1;
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uint16_t _prevCh2;
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int8_t _directionCh1;
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int8_t _directionCh2;
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uint8_t _state;
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};
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#endif
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