00001 // 00002 // begin license header 00003 // 00004 // This file is part of Terk and TerkOS. 00005 // 00006 // All Terk and TerkOS source code is provided under the terms of the 00007 // GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html). 00008 // Those wishing to use Terk and TerkOS source code, software and/or 00009 // technologies under different licensing terms should contact us at 00010 // [email protected]. Such licensing terms are available for 00011 // all portions of the Terk and TerkOS codebase presented here. 00012 // 00013 // end license header 00014 // 00015 00016 #ifndef QEMOTORTRAJ_H 00017 #define QEMOTORTRAJ_H 00018 00019 #include <pthread.h> 00020 #include "qemotoruser.h" 00021 #include "qemotorrec.h" 00022 00023 #define QEM_BIT(n) (1<<n) 00024 #define QEM_POS_SCALE 8 00025 00026 00049 class CQEMotorTraj : public CQEMotorUser, public CQEMotorRec 00050 { 00051 public: 00055 SINGLETON(CQEMotorTraj); 00056 00063 bool Done(unsigned int axis); 00064 00070 void Stop(unsigned int axis); 00071 00099 virtual void Move(unsigned int axis, 00100 Axis_position endPosition, int velocity, 00101 unsigned int acceleration, bool absolute=false); 00114 virtual void MoveVelocity(unsigned int axis, 00115 int velocity, unsigned int acceleration); 00116 00117 // CQEMotorRec methods 00118 virtual void Record(); 00119 virtual void Play(); 00120 00121 protected: 00122 CQEMotorTraj(); 00123 ~CQEMotorTraj(); 00124 00125 // trajectory generating methods 00126 void TrapezoidTrajectory(); 00127 void RecordTrajectory(); 00128 00129 // write trajectory waypoints to device 00130 void WriteTrajectory(); 00131 00132 // read positions from motors 00133 void ReadPosition(); 00134 00135 bool m_threadRun; 00136 pthread_mutex_t m_mutex; 00137 pthread_cond_t m_cond; 00138 00139 pthread_t m_thread; 00140 unsigned char m_operAxes; 00141 unsigned short m_trajectory; 00142 unsigned short m_velocityTrajectory; 00143 00144 static void *TrajThread(void *arg); 00145 long long m_trajectoryEndPosition[QEMOT_NUM_MOTORS]; // enc << posScale 00146 int m_trajectoryVelocity[QEMOT_NUM_MOTORS]; // enc/period << posScale 00147 unsigned int m_trajectoryAcceleration[QEMOT_NUM_MOTORS]; // enc/period/period 00148 00149 // Trajectory generator output 00150 int m_generatedTrajectoryVelocity[QEMOT_NUM_MOTORS]; 00151 int m_generatedTrajectoryVelocityUs[QEMOT_NUM_MOTORS]; 00152 long long m_generatedTrajectoryPosition[QEMOT_NUM_MOTORS]; 00153 Axis_position m_generatedTrajectoryPositionUs[QEMOT_NUM_MOTORS]; 00154 int m_accIntegral[QEMOT_NUM_MOTORS]; // enc << posScale 00155 Axis_position m_readPositionUs[QEMOT_NUM_MOTORS]; 00156 }; 00157 00158 #endif
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