BE@R lab
/
motion_control
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Dependencies: motor_relay
Dependents: dog_V3_3_testmotor
motion_control.h@4:6509fec6a6fb, 2015-07-18 (annotated)
- Committer:
- soulx
- Date:
- Sat Jul 18 05:52:56 2015 +0000
- Revision:
- 4:6509fec6a6fb
- Parent:
- 3:4fa191f2194d
- Child:
- 5:91d905f8bef7
test and edit :pass
Who changed what in which revision?
| User | Revision | Line number | New 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 | 0:77ab14788110 | 15 | |
| soulx | 3:4fa191f2194d | 16 | int GetLimitUp(); |
| soulx | 3:4fa191f2194d | 17 | int 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 | 4:6509fec6a6fb | 25 | |
| soulx | 4:6509fec6a6fb | 26 | uint16_t GetAnalog(); |
| soulx | 4:6509fec6a6fb | 27 | uint16_t GetPosition(); |
| soulx | 2:2cadf29245f4 | 28 | |
| soulx | 4:6509fec6a6fb | 29 | void stop(); |
| soulx | 0:77ab14788110 | 30 | |
| soulx | 0:77ab14788110 | 31 | private: |
| soulx | 0:77ab14788110 | 32 | |
| soulx | 4:6509fec6a6fb | 33 | uint16_t Scale(uint16_t data); |
| soulx | 4:6509fec6a6fb | 34 | |
| soulx | 4:6509fec6a6fb | 35 | MOTOR_RELAY motor; |
| soulx | 0:77ab14788110 | 36 | |
| soulx | 0:77ab14788110 | 37 | DigitalIn _limit_up; |
| soulx | 0:77ab14788110 | 38 | DigitalIn _limit_down; |
| soulx | 0:77ab14788110 | 39 | AnalogIn _position; |
| soulx | 0:77ab14788110 | 40 | |
| soulx | 0:77ab14788110 | 41 | int16_t error; |
| soulx | 0:77ab14788110 | 42 | int16_t MARGIN; |
| soulx | 0:77ab14788110 | 43 | |
| soulx | 2:2cadf29245f4 | 44 | uint16_t MAX_POSITION; |
| soulx | 2:2cadf29245f4 | 45 | uint16_t MIN_POSITION; |
| soulx | 0:77ab14788110 | 46 | |
| soulx | 4:6509fec6a6fb | 47 | const static uint16_t scale = 64; |
| soulx | 1:5b313fd2ca6f | 48 | |
| soulx | 1:5b313fd2ca6f | 49 | |
| soulx | 0:77ab14788110 | 50 | float Kp; |
| soulx | 0:77ab14788110 | 51 | float Ki; |
| soulx | 0:77ab14788110 | 52 | float Kd; |
| soulx | 0:77ab14788110 | 53 | float margin_pid; |
| soulx | 0:77ab14788110 | 54 | |
| soulx | 0:77ab14788110 | 55 | }; |
| soulx | 0:77ab14788110 | 56 | |
| soulx | 0:77ab14788110 | 57 | #endif |