Buggy bois / Mbed 2 deprecated HEATS_1

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Wheel.h@0:f45212966fb1, 2019-02-18 (annotated)

Committer:
mazdo25
Date:
Mon Feb 18 13:13:34 2019 +0000
Revision:
0:f45212966fb1
initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mazdo25 0:f45212966fb1 1 class Wheel {
mazdo25 0:f45212966fb1 2 private:
mazdo25 0:f45212966fb1 3 float angularVelocity; //angular speed of the wheel
mazdo25 0:f45212966fb1 4 float linearVelocity;
mazdo25 0:f45212966fb1 5 PwmOut Mtr; //connect this pin to the motor driveboard pwm
mazdo25 0:f45212966fb1 6 DigitalOut direction; //connected to the direction pin of motor drive board
mazdo25 0:f45212966fb1 7 float static const wheelDiameter = 0.18;
mazdo25 0:f45212966fb1 8 Encoder* enc;
mazdo25 0:f45212966fb1 9 float const static MAV = 510;
mazdo25 0:f45212966fb1 10
mazdo25 0:f45212966fb1 11 public:
mazdo25 0:f45212966fb1 12 Wheel (Encoder* E, PinName M, PinName C) : Mtr(M), direction(C) {
mazdo25 0:f45212966fb1 13 enc = E;
mazdo25 0:f45212966fb1 14 Mtr.write(1.0f); //duty cycle of 100%
mazdo25 0:f45212966fb1 15 Mtr.period_us(100000); //frequency of 1KHz determine this constant value based on switching losses+frequency losses
mazdo25 0:f45212966fb1 16 //higher freq -> more switching losses lower freq -> more "capacitive losses" need to find a balance
mazdo25 0:f45212966fb1 17 direction = 0;
mazdo25 0:f45212966fb1 18 Mtr.write(0.1f); //duty cycle of 0.1 -> turn it off
mazdo25 0:f45212966fb1 19 }
mazdo25 0:f45212966fb1 20
mazdo25 0:f45212966fb1 21
mazdo25 0:f45212966fb1 22 float calculateAngularVelocity(){ //returns a float value which is the angular velocity of the WHEEL
mazdo25 0:f45212966fb1 23 angularVelocity = ((enc->encoderTickRate())/512)*2*3.141593f;
mazdo25 0:f45212966fb1 24 return ((enc->encoderTickRate())/512)*2*3.141593f;
mazdo25 0:f45212966fb1 25 };
mazdo25 0:f45212966fb1 26
mazdo25 0:f45212966fb1 27 void setDutyCycle(float f)
mazdo25 0:f45212966fb1 28 {
mazdo25 0:f45212966fb1 29 if (f > 1.0f)
mazdo25 0:f45212966fb1 30 {
mazdo25 0:f45212966fb1 31 Mtr.write(1);
mazdo25 0:f45212966fb1 32 }
mazdo25 0:f45212966fb1 33 else if (f < 0.0f)
mazdo25 0:f45212966fb1 34 {
mazdo25 0:f45212966fb1 35 Mtr.write (0);
mazdo25 0:f45212966fb1 36 }else
mazdo25 0:f45212966fb1 37 {
mazdo25 0:f45212966fb1 38 Mtr.write(f);
mazdo25 0:f45212966fb1 39 }
mazdo25 0:f45212966fb1 40 };
mazdo25 0:f45212966fb1 41
mazdo25 0:f45212966fb1 42 void setFrequency(int freq){
mazdo25 0:f45212966fb1 43 Mtr.period(1/freq);
mazdo25 0:f45212966fb1 44 };
mazdo25 0:f45212966fb1 45
mazdo25 0:f45212966fb1 46 void adjustAngularVelocity(float W) // W = angular velocity you want, obviously putting a |w| value that is > max angular velocity will set dutcy cycle to 1
mazdo25 0:f45212966fb1 47 {
mazdo25 0:f45212966fb1 48 if (abs(W) >= MAV)
mazdo25 0:f45212966fb1 49 {
mazdo25 0:f45212966fb1 50 Mtr.write(1);
mazdo25 0:f45212966fb1 51 }else
mazdo25 0:f45212966fb1 52 {
mazdo25 0:f45212966fb1 53 Mtr.write(abs(W)/MAV); //assuming linear relationship between dutcy cycle and speed.
mazdo25 0:f45212966fb1 54 }
mazdo25 0:f45212966fb1 55 if (W<0)
mazdo25 0:f45212966fb1 56 {
mazdo25 0:f45212966fb1 57 direction = 0;
mazdo25 0:f45212966fb1 58 } else {
mazdo25 0:f45212966fb1 59 direction = 1;
mazdo25 0:f45212966fb1 60 }
mazdo25 0:f45212966fb1 61 };
mazdo25 0:f45212966fb1 62
mazdo25 0:f45212966fb1 63 };