Diff: WheelControl/LWheel.h

Revision:

5:f1613df66ceb

Parent:

4:208f5279143a

Child:

6:477382219bcf

--- a/WheelControl/LWheel.h	Sat Mar 23 19:46:09 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,119 +0,0 @@
-class LWheel 
-{
-    private:
-    
-    float distance; //distance traversed by wheel
-    float angularVelocity;
-    
-        float const static gain = 0.9f; //closed loop gain, (amount to amplify the difference) you have to tune this value
-    //but make sure its less than 1.5 otherwise you'll have a really sensitive motor
-    
-    PwmOut Mtr; //connect this pin to the motor driveboard pwm
-    DigitalOut direction; //connected to the direction pin of motor drive board
-    DigitalOut polarity; //connected to the bipolar of motor drive board. 0 = unipolar 1 = bipolar
-    
-    Ticker updater;
-
-    Encoder* enc;
-    
-    PID controller;
-    
-    public:
-    
-    float  maxAngularVel;
-    
-    float static const wheelDiameter = 0.18; //used in calculation of Linear velocity i.e never
-    
-    LWheel (Encoder* E, PinName M, PinName D, PinName Mode) : Mtr(M), direction(D), polarity(Mode), controller(gain,6.0f,0.0f,0.05f)
-        {
-        maxAngularVel = 0.0f;
-        enc = E;
-        polarity = 0;   
-        direction = 0;
-        distance = 0;
-        Mtr.period_us(100); //frequency of 5KHz determine this constant value based on switching losses+frequency losses
-        //higher freq -> more switching losses lower freq -> more "capacitive losses" need to find a balance
-        Mtr.write(1); //start off on the turned off state
-        
-        updater.detach();
-        
-        controller.setOutputLimits(-1.0f, 1.0f);
-        }
-    
-    void calculateAngularVelocity() //returns a float value which is the angular velocity of the WHEEL
-    {
-        float eTR = enc->encoderTickRate();
-        angularVelocity = (eTR/256.0f)*2.0f*(float)PI;
-    }
-    
-    void setFrequency(int freq) //if you want to adjust the frequency
-    {
-        Mtr.period(1/freq);
-    }
-    
-    float returnAngularVelocity() //as it says
-    {
-        return angularVelocity;
-    }
-    
-    //only called once during initialization to calculate max angular velocity 
-    //dir = direction, do opposite for each wheel just so your buggy doesn't move FORWARD but rather rotates
-    void init(int dir) 
-    {
-      enc->startTimer();
-      Mtr.write(0); //max speed
-      angularVelocity = 10.0f;
-      if (dir != 0) {direction = 1;} else {direction = 0;}
-      updater.attach(callback(this, &LWheel::init2),0.6f); //used as a wait preferably put this wait just long enough that the buggy will do a full 360 degree turn so that it hasn't moved
-    }
-    
-    void init2(void) //used as a temporarily wait command for the wheel to spin to max
-    {
-        updater.detach();
-        calculateAngularVelocity();
-        maxAngularVel = abs(angularVelocity);
-        controller.setInputLimits(-1.0f*abs(angularVelocity),abs(angularVelocity));
-        controller.setSetPoint(0.0f);
-        updater.attach(callback(this, &LWheel::wheelUpdates),0.05f);
-    }
-    
-    void startController()
-    {
-       updater.attach(callback(this, &LWheel::wheelUpdates),0.05f); 
-    }
-    
-    void stopController()
-    {
-        updater.detach();
-    }
-    
-    void wheelUpdates(void) //sampling rate the ticker is attached I.E the wheel speed is updated everytime this function is called
-        {
-            calculateAngularVelocity();
-            if (controller.returnPrevCA() >= controller.returnInMax())
-            {
-                maxAngularVel = abs(angularVelocity);
-                controller.setInputLimits(-1.0f*maxAngularVel,maxAngularVel);
-            }
-            float temp2 = controller.compute(angularVelocity); //another temporary value to store the computed angular velocity
-            if (temp2 < 0) {direction = 0;} else {direction = 1;} //change direction according to the computed value
-            Mtr.write((1.0f - abs(temp2))); //write the value as a pwm
-        }
-        
-    void adjustAngularVelocity(float W) // W = angular velocity you want, obviously putting a |w| value that is > max angular velocity will set dutcy cycle to max
-        {
-        controller.setSetPoint(W);
-        if (W < 0.0f) {direction = 0;} else {direction = 1;} //obvs if you put a negative value -> will get a negative direction i.e 0;
-        };
-        
-    float getDistance(void)
-    {
-    return distance; //distance traversed by wheel
-    }
-    
-    float returnMaxAngularVel(void)
-    {
-        return  maxAngularVel;
-    }
-    
-};
\ No newline at end of file