BE@R lab / motion_control

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Dependencies:   motor_relay

Dependents:   dog_V3_3_testmotor

motion_control.h@6:41d7cf11fdb1, 2015-07-20 (annotated)

Committer:
soulx
Date:
Mon Jul 20 09:15:28 2015 +0000
Revision:
6:41d7cf11fdb1
Parent:
5:91d905f8bef7
Child:
7:94518aee126b
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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 4:6509fec6a6fb 12 int limit_motor(uint8_t dirction);
soulx 4:6509fec6a6fb 13 int8_t position_control(uint16_t target);
soulx 0:77ab14788110 14 void calibration();
soulx 5:91d905f8bef7 15
soulx 6:41d7cf11fdb1 16 //limit
soulx 6:41d7cf11fdb1 17 // open : '1'
soulx 6:41d7cf11fdb1 18 // shot : '0'
soulx 6:41d7cf11fdb1 19 int GetLimitUp();
soulx 3:4fa191f2194d 20 int GetLimitDown();
soulx 5:91d905f8bef7 21
soulx 0:77ab14788110 22 void SetMargin(int16_t data);
soulx 2:2cadf29245f4 23 int16_t GetMargin();
soulx 5:91d905f8bef7 24
soulx 2:2cadf29245f4 25 uint16_t GetMaxPosition();
soulx 2:2cadf29245f4 26 uint16_t GetMinPosition();
soulx 5:91d905f8bef7 27 void SetMaxPosition(uint16_t value);
soulx 5:91d905f8bef7 28 void SetMinPosition(uint16_t value);
soulx 4:6509fec6a6fb 29
soulx 4:6509fec6a6fb 30 uint16_t GetAnalog();
soulx 4:6509fec6a6fb 31 uint16_t GetPosition();
soulx 5:91d905f8bef7 32
soulx 4:6509fec6a6fb 33 void stop();
soulx 0:77ab14788110 34
soulx 0:77ab14788110 35 private:
soulx 0:77ab14788110 36
soulx 4:6509fec6a6fb 37 uint16_t Scale(uint16_t data);
soulx 5:91d905f8bef7 38
soulx 4:6509fec6a6fb 39 MOTOR_RELAY motor;
soulx 0:77ab14788110 40
soulx 0:77ab14788110 41 DigitalIn _limit_up;
soulx 0:77ab14788110 42 DigitalIn _limit_down;
soulx 0:77ab14788110 43 AnalogIn _position;
soulx 5:91d905f8bef7 44
soulx 0:77ab14788110 45 int16_t error;
soulx 0:77ab14788110 46 int16_t MARGIN;
soulx 5:91d905f8bef7 47
soulx 2:2cadf29245f4 48 uint16_t MAX_POSITION;
soulx 2:2cadf29245f4 49 uint16_t MIN_POSITION;
soulx 5:91d905f8bef7 50
soulx 4:6509fec6a6fb 51 const static uint16_t scale = 64;
soulx 5:91d905f8bef7 52 const static uint16_t LOOP = 100;
soulx 5:91d905f8bef7 53
soulx 5:91d905f8bef7 54 //float Kp;
soulx 5:91d905f8bef7 55 //float Ki;
soulx 5:91d905f8bef7 56 //float Kd;
soulx 5:91d905f8bef7 57 //float margin_pid;
soulx 0:77ab14788110 58
soulx 0:77ab14788110 59 };
soulx 0:77ab14788110 60
soulx 0:77ab14788110 61 #endif