BE@R lab
/
motion_control
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Dependencies: motor_relay
Dependents: dog_V3_3_testmotor
Diff: motion_control.h
- Revision:
- 0:77ab14788110
- Child:
- 1:5b313fd2ca6f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/motion_control.h Fri Jul 17 12:07:01 2015 +0000
@@ -0,0 +1,41 @@
+#ifndef MBED_MOTOR_RE_H
+#define MBED_MOTOR_RE_H
+
+#include "mbed.h"
+#include "motor_relay.h"
+
+class MOTION_CONTROL
+{
+public:
+ MOTION_CONTROL(PinName dirA, PinName dirB, PinName limitUp, PinName limitDown, PinName vr );
+
+ int8_t limit_motor(uint8_t dirction);
+ int8_t position_control(uint16_t current, uint16_t target);
+ void calibration();
+
+ int8_t GetLimitUp();
+ int8_t GetLimitDown();
+ void SetMargin(int16_t data);
+
+private:
+
+ MOTOR_RELAY *motor;
+
+ DigitalIn _limit_up;
+ DigitalIn _limit_down;
+ AnalogIn _position;
+
+ int16_t error;
+ int16_t MARGIN;
+
+ int16_t MAX_POSITION;
+ int16_t MIN_POSITION;
+
+ float Kp;
+ float Ki;
+ float Kd;
+ float margin_pid;
+
+};
+
+#endif
\ No newline at end of file