BE@R lab / motion_control

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Dependencies:   motor_relay

Dependents:   dog_V3_3_testmotor

motion_control.h@2:2cadf29245f4, 2015-07-17 (annotated)

Committer:
soulx
Date:
Fri Jul 17 14:32:19 2015 +0000
Revision:
2:2cadf29245f4
Parent:
1:5b313fd2ca6f
Child:
3:4fa191f2194d
add function prototype

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soulx 0:77ab14788110 1 #ifndef MBED_MOTOR_RE_H
soulx 0:77ab14788110 2 #define MBED_MOTOR_RE_H
soulx 0:77ab14788110 3
soulx 0:77ab14788110 4 #include "mbed.h"
soulx 0:77ab14788110 5 #include "motor_relay.h"
soulx 0:77ab14788110 6
soulx 0:77ab14788110 7 class MOTION_CONTROL
soulx 0:77ab14788110 8 {
soulx 0:77ab14788110 9 public:
soulx 0:77ab14788110 10 MOTION_CONTROL(PinName dirA, PinName dirB, PinName limitUp, PinName limitDown, PinName vr );
soulx 0:77ab14788110 11
soulx 0:77ab14788110 12 int8_t limit_motor(uint8_t dirction);
soulx 0:77ab14788110 13 int8_t position_control(uint16_t current, uint16_t target);
soulx 0:77ab14788110 14 void calibration();
soulx 0:77ab14788110 15
soulx 0:77ab14788110 16 int8_t GetLimitUp();
soulx 0:77ab14788110 17 int8_t GetLimitDown();
soulx 2:2cadf29245f4 18
soulx 0:77ab14788110 19 void SetMargin(int16_t data);
soulx 2:2cadf29245f4 20 int16_t GetMargin();
soulx 2:2cadf29245f4 21
soulx 2:2cadf29245f4 22 uint16_t GetMaxPosition();
soulx 2:2cadf29245f4 23 uint16_t GetMinPosition();
soulx 2:2cadf29245f4 24
soulx 2:2cadf29245f4 25
soulx 1:5b313fd2ca6f 26
soulx 0:77ab14788110 27
soulx 0:77ab14788110 28 private:
soulx 0:77ab14788110 29
soulx 0:77ab14788110 30 MOTOR_RELAY *motor;
soulx 0:77ab14788110 31
soulx 0:77ab14788110 32 DigitalIn _limit_up;
soulx 0:77ab14788110 33 DigitalIn _limit_down;
soulx 0:77ab14788110 34 AnalogIn _position;
soulx 0:77ab14788110 35
soulx 0:77ab14788110 36 int16_t error;
soulx 0:77ab14788110 37 int16_t MARGIN;
soulx 0:77ab14788110 38
soulx 2:2cadf29245f4 39 uint16_t MAX_POSITION;
soulx 2:2cadf29245f4 40 uint16_t MIN_POSITION;
soulx 0:77ab14788110 41
soulx 1:5b313fd2ca6f 42 const uint16_t scale= 1000;
soulx 1:5b313fd2ca6f 43
soulx 1:5b313fd2ca6f 44
soulx 0:77ab14788110 45 float Kp;
soulx 0:77ab14788110 46 float Ki;
soulx 0:77ab14788110 47 float Kd;
soulx 0:77ab14788110 48 float margin_pid;
soulx 0:77ab14788110 49
soulx 0:77ab14788110 50 };
soulx 0:77ab14788110 51
soulx 0:77ab14788110 52 #endif