BE@R lab / motion_control

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Dependencies:   motor_relay

Dependents:   dog_V3_3_testmotor

motion_control.h@5:91d905f8bef7, 2015-07-19 (annotated)

Committer:
soulx
Date:
Sun Jul 19 17:38:21 2015 +0000
Revision:
5:91d905f8bef7
Parent:
4:6509fec6a6fb
Child:
6:41d7cf11fdb1
add function getpoten

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 3:4fa191f2194d 16 int GetLimitUp();
soulx 3:4fa191f2194d 17 int GetLimitDown();
soulx 5:91d905f8bef7 18
soulx 0:77ab14788110 19 void SetMargin(int16_t data);
soulx 2:2cadf29245f4 20 int16_t GetMargin();
soulx 5:91d905f8bef7 21
soulx 2:2cadf29245f4 22 uint16_t GetMaxPosition();
soulx 2:2cadf29245f4 23 uint16_t GetMinPosition();
soulx 5:91d905f8bef7 24 void SetMaxPosition(uint16_t value);
soulx 5:91d905f8bef7 25 void SetMinPosition(uint16_t value);
soulx 4:6509fec6a6fb 26
soulx 4:6509fec6a6fb 27 uint16_t GetAnalog();
soulx 4:6509fec6a6fb 28 uint16_t GetPosition();
soulx 5:91d905f8bef7 29
soulx 4:6509fec6a6fb 30 void stop();
soulx 0:77ab14788110 31
soulx 0:77ab14788110 32 private:
soulx 0:77ab14788110 33
soulx 4:6509fec6a6fb 34 uint16_t Scale(uint16_t data);
soulx 5:91d905f8bef7 35
soulx 4:6509fec6a6fb 36 MOTOR_RELAY motor;
soulx 0:77ab14788110 37
soulx 0:77ab14788110 38 DigitalIn _limit_up;
soulx 0:77ab14788110 39 DigitalIn _limit_down;
soulx 0:77ab14788110 40 AnalogIn _position;
soulx 5:91d905f8bef7 41
soulx 0:77ab14788110 42 int16_t error;
soulx 0:77ab14788110 43 int16_t MARGIN;
soulx 5:91d905f8bef7 44
soulx 2:2cadf29245f4 45 uint16_t MAX_POSITION;
soulx 2:2cadf29245f4 46 uint16_t MIN_POSITION;
soulx 5:91d905f8bef7 47
soulx 4:6509fec6a6fb 48 const static uint16_t scale = 64;
soulx 5:91d905f8bef7 49 const static uint16_t LOOP = 100;
soulx 5:91d905f8bef7 50
soulx 5:91d905f8bef7 51 //float Kp;
soulx 5:91d905f8bef7 52 //float Ki;
soulx 5:91d905f8bef7 53 //float Kd;
soulx 5:91d905f8bef7 54 //float margin_pid;
soulx 0:77ab14788110 55
soulx 0:77ab14788110 56 };
soulx 0:77ab14788110 57
soulx 0:77ab14788110 58 #endif