BA
Backup 1
Diff: Controller.h
- Revision:
- 0:02dd72d1d465
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Controller.h Tue Apr 24 11:45:18 2018 +0000
@@ -0,0 +1,129 @@
+/*
+ * Controller.cpp
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ *
+ * Created on: 27.03.2018
+ * Author: BaBoRo Development Team
+ */
+
+#ifndef CONTROLLER_H_
+#define CONTROLLER_H_
+
+#include <stdint.h>
+#include "mbed.h"
+#include "EncoderCounter.h"
+#include "IMU.h"
+#include "LowpassFilter.h"
+#include "Motion.h"
+
+/**
+ * controller class
+ */
+class Controller {
+
+ public:
+
+ //static const float TRANSLATIONAL_PROFILE_VELOCITY;
+ //static const float ROTATIONAL_PROFILE_VELOCITY;
+ static const float ALPHA;
+ static const float RB;
+ static const float RW;
+ static const float PI;
+ static const float SQRT_3;
+ static const float LOWPASS_FILTER_FREQUENCY;
+ static const float COUNTS_PER_TURN;
+ static const float KI;
+ static const float MIN_DUTY_CYCLE;
+ static const float MAX_DUTY_CYCLE;
+ static const float MAX_ACC_M;
+
+ Controller(PwmOut& pwm0, PwmOut& pwm1, PwmOut& pwm2, EncoderCounter& counter1, EncoderCounter& counter2, EncoderCounter& counter3, IMU& imu);
+ virtual ~Controller();
+ void setGammaX(float gammaX);
+ void setGammaY(float gammaY);
+ void setGammaZ(float gammaZ);
+ void setPhiX(float phiX);
+ void setPhiY(float phiY);
+ void setX(float x);
+ void setY(float y);
+
+ float getPhiX();
+ float getPhiY();
+ float getX();
+ float getY();
+
+
+ private:
+
+ static const uint32_t STACK_SIZE = 4096; // stack size of thread, given in [bytes]
+ static const float PERIOD; // the period of the timer interrupt, given in [s]
+
+ PwmOut& pwm0;
+ PwmOut& pwm1;
+ PwmOut& pwm2;
+
+ EncoderCounter& counter1;
+ EncoderCounter& counter2;
+ EncoderCounter& counter3;
+
+ float gammaXref;
+ float gammaYref;
+ float gammaZref;
+ float phiXref;
+ float phiYref;
+
+ float gammaX;
+ float gammaY;
+ float gammaZ;
+ float phiX;
+ float phiY;
+ float x;
+ float y;
+
+ float d_gammaX;
+ float d_gammaY;
+ float d_gammaZ;
+ float d_phiX;
+ float d_phiY;
+
+ LowpassFilter speedFilter1;
+ LowpassFilter speedFilter2;
+ LowpassFilter speedFilter3;
+
+ LowpassFilter d_phiXFilter;
+ LowpassFilter d_phiYFilter;
+
+ LowpassFilter gammaXFilter;
+ LowpassFilter gammaYFilter;
+ LowpassFilter d_gammaXFilter;
+ LowpassFilter d_gammaYFilter;
+
+ LowpassFilter M1Filter;
+ LowpassFilter M2Filter;
+ LowpassFilter M3Filter;
+
+ float previousValueCounter1;
+ float previousValueCounter2;
+ float previousValueCounter3;
+ float actualSpeed1;
+ float actualSpeed2;
+ float actualSpeed3;
+
+ Motion M1motion;
+ Motion M2motion;
+ Motion M3motion;
+ Motion d_phiXMotion;
+ Motion d_phiYMotion;
+
+ IMU& imu;
+ //Signal signal;
+ Thread thread;
+ //Ticker ticker;
+ Mutex mutex; // mutex to lock critical sections
+
+ //void sendSignal();
+ void run();
+};
+
+#endif /* CONTROLLER_H_ */