29 lines
808 B
C++
29 lines
808 B
C++
#ifndef STEPPERDRIVER_H
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#define STEPPERDRIVER_H
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class StepperDriver{
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public:
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/** Initialise hardware */
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virtual int init() = 0;
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/** Enable hardware */
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virtual void enable() = 0;
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/** Disable hardware */
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virtual void disable() = 0;
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long pwm_frequency; //!< pwm frequency value in hertz
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float voltage_power_supply; //!< power supply voltage
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float voltage_limit; //!< limiting voltage set to the motor
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bool initialized = false; // true if driver was successfully initialized
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/**
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* Set phase voltages to the harware
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*
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* @param Ua phase A voltage
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* @param Ub phase B voltage
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*/
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virtual void setPwm(float Ua, float Ub) = 0;
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};
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#endif |