This class abstracts the communication with Sensors of the Extendjoints (currently a E6A2-C rotary encoder). More...
#include <rotary_encoder.h>
Public Member Functions | |
| RotaryEncoder (const std::string &spi_device, uint8_t spi_cs_id, uint8_t spi_mode, uint8_t spi_bits, uint32_t spi_speed, uint16_t spi_delay) | |
| double | getValue () |
Detailed Description
This class abstracts the communication with Sensors of the Extendjoints (currently a E6A2-C rotary encoder).
This class abstracts the communication with the sensors measuring the state of the extendjoint.
The extendsensor measures the position of the extendjoint.This is is implemented using a omron E6A2-C rotary encoder which is connected to the drive shaft driven by the extendmotor and a photosensor (seen below)
The photosensor is needet since a rotary encoder does not measure absolute position. A splint affixed to the leg is able to trigger the photosensor thereby providing a absolute position feedback. There are multiple possible position of the splint, the current one can be seen below
The readout of rotary encoder and photosensor is abstracted by an arduino which sends the calibrated angle values over spi
It is important to note that the send angle is not the position of the driveshaft, but instead the state of the virtual extend joint. More information about this virtual joint can be found here.
Constructor & Destructor Documentation
◆ RotaryEncoder()
| RotaryEncoder::RotaryEncoder | ( | const std::string & | spi_device, |
| uint8_t | spi_cs_id, | ||
| uint8_t | spi_mode, | ||
| uint8_t | spi_bits, | ||
| uint32_t | spi_speed, | ||
| uint16_t | spi_delay | ||
| ) |
\biref Constructor of the RotaryEncoder class
- Parameters
-
SPI device, Chip select ID, mode, number of bits, communication speed and delay as well as the angle which is considered zero by the kinematics.
Member Function Documentation
◆ getValue()
| double RotaryEncoder::getValue | ( | ) |
Reads the Angle of the RotaryEncoder from the Arduino
The documentation for this class was generated from the following files:
- rotary_encoder.h
- rotary_encoder.cpp
