Revision 0:0d2b4508badd, committed 2015-09-23

Comitter:

kikoaac

Date:

Wed Sep 23 06:00:24 2015 +0000

Commit message:

??Class
;

Changed in this revision

diff -r 000000000000 -r 0d2b4508badd fusion_Motor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/fusion_Motor.cpp	Wed Sep 23 06:00:24 2015 +0000
@@ -0,0 +1,87 @@
+/**
+ * Includes
+ */
+#include "fusion_Motor.h"
+
+
+fusion_Motor::fusion_Motor( QEI &p, PID &q, Motor &m): QEI(p),PID(q),Motor(m)
+{
+    flag=0;
+    QEI::state(1);
+    interval=0.3;
+    Maxrpm=100.0F;
+    Minrpm=-100.0F;
+    Max=1;
+    max=1;
+    Min=-1;
+    min=-1;
+    mode = Normal;
+    OutputLimits(1,-1);
+}
+void fusion_Motor::setup(Mode _mode)
+{
+    setmode(_mode);
+}
+void fusion_Motor::InterruptAction()
+{
+    //printf("%f\r\n",data);
+    Motor::run(Free,data);
+    switch(mode)
+    {
+        case Normal:
+            inter.detach();
+            break;
+        case Servo:
+            dPoint=getSumangle();
+            PIDctrl();
+            break;
+        case Speed:
+            RPM = dPoint=getRPM();
+            PIDctrl();
+            break;
+    }
+    Motor::operator=(data); 
+}
+void fusion_Motor::start(float target)
+{
+    dTarget=target;
+    inter.attach(this,&fusion_Motor::InterruptAction,fusion_Motor::interval);
+}
+void fusion_Motor::start()
+{
+    inter.attach(this,&fusion_Motor::InterruptAction,fusion_Motor::interval);
+}
+void fusion_Motor::motor_run(float actionNum)
+{
+    switch(mode)
+    {
+        case Normal:
+            Nomalrun(actionNum);
+            break;
+        case Servo:
+            Servorun(actionNum);
+            break;
+        case Speed:
+            Speedrun(flag?rerpmper(actionNum):rpmper(actionNum));
+            break;
+    }
+}
+
+float fusion_Motor::rpmper(float rpm)
+{
+    if(rpm>Maxrpm)rpm=Maxrpm;
+    else if(rpm<Minrpm)rpm=Minrpm;
+    return rpm;
+}
+float fusion_Motor::rerpmper(float rpm)
+{
+     if(rpm>Max)rpm=Max;
+     else if(rpm<Min)rpm=Min;
+     return rpmper(rpm*Maxrpm);
+}
+
+
+
+
+
+

diff -r 000000000000 -r 0d2b4508badd fusion_Motor.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/fusion_Motor.h	Wed Sep 23 06:00:24 2015 +0000
@@ -0,0 +1,77 @@
+
+#include "mbed.h"
+#include "Motor.h"
+#include "PID.h"
+#include "QEI.h"
+#ifndef fusion_Motor_H
+#define fusion_Motor_H
+
+class fusion_Motor : public QEI ,public PID ,public Motor
+{
+    
+    Ticker inter;
+protected:
+    fusion_Motor& operator=(const fusion_Motor &q) {
+        
+        return *this;
+    }
+public:
+    fusion_Motor( QEI &p, PID &q,Motor &m) ;
+    float interval;
+    typedef enum Mode {
+        Normal,
+        Servo,
+        Speed
+
+    } Mode;
+    float getrpm()
+    {
+        return RPM;
+    }
+    /*fusion_Motor() : PID(),QEI(),Motor()
+    {
+        printf("defoult con\r\n");
+    }*/
+
+    void setup(Mode _mode);
+    void setmode(Mode _mode){mode=_mode;}
+    void motor_run(float actionNum); 
+    fusion_Motor& operator() (Mode _mode,bool f)
+    {
+        
+        flag=f;
+        setmode(_mode);
+        pid_reset();
+        return *this;
+    }
+    fusion_Motor& operator= (float actnum) 
+    {
+        motor_run(actnum);
+        return *this;
+    }
+    void start(float target);
+    void start();
+    void write(float tar);
+    
+    
+    
+    void maxrpm(float rpm){Maxrpm = rpm;}
+    void minrpm(float rpm){Minrpm = rpm;}
+    float rpmper(float rpm);
+    float rerpmper(float rpm);
+    void Nomalrun(float duty){Motor::operator=(duty);}
+    void Servorun(float angle){dTarget = angle;}
+    void Speedrun(float rpm){dTarget = rpm;}
+    
+private:
+    float RPM;
+    bool flag;
+    void InterruptAction();
+    Mode mode;
+    float Max,Min;
+    float Maxrpm;
+    float Minrpm;
+};
+
+#endif
+