Revision 0:f45212966fb1, committed 2019-02-18

Comitter:

mazdo25

Date:

Mon Feb 18 13:13:34 2019 +0000

Child:

1:813f4b17ae65

Commit message:

initial commit

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder.h	Mon Feb 18 13:13:34 2019 +0000
@@ -0,0 +1,49 @@
+//works only in x2 encoding (512 counts per second)
+class Encoder {  
+    private:
+    InterruptIn ChannelA; //connect this to channel A, 
+    DigitalIn ChannelB; //connect this to channel B,
+    Timer dT; //to calculate rate of change of encoder ticks.
+    int PET;
+    int CET;
+    
+    public:
+    
+    
+    Encoder(PinName A, PinName B) : ChannelA(A),ChannelB(B){
+        dT.reset();
+        ChannelA.rise(callback(this, &Encoder::riseEncode)); //
+        ChannelA.fall(callback(this, &Encoder::fallEncode));
+        CET = 0;
+        PET = 0;
+        dT.start();
+        };
+        
+    void riseEncode(){ //logic for what happens when you get a pulse in channel A
+        if (ChannelB.read() != 0) //essentially if the rise happens while B is 1 (high) means its going in reverse
+            {
+            CET --;
+            } else
+            {
+            CET ++;   
+            }
+        };
+        
+    void fallEncode(){ //logic, same as above but a fall in channel A
+        if (ChannelB.read() != 0){ //essentially if fall pulse in channel A happens while b ia high, means going forward
+            CET ++; 
+            } else
+            {
+            CET --;
+            }
+        };  
+        //refer to technical handbook quadrature encoder section.
+        
+    float encoderTickRate() {
+        int Temp = PET;
+        PET = CET;
+        dT.reset();
+        return (CET-Temp)/(int)dT.read();
+        };
+
+};
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID.lib	Mon Feb 18 13:13:34 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/aberk/code/PID/#6e12a3e5af19

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.lib	Mon Feb 18 13:13:34 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/aberk/code/QEI/#8ac891a6882f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Robot.h	Mon Feb 18 13:13:34 2019 +0000
@@ -0,0 +1,33 @@
+class Robot {
+    private:
+    float robotAngularVelocity;
+    float robotTranslationalVeocity;
+    Wheel* leftWheel;
+    Wheel* rightWheel;
+    float static const distanceBetweenWheels = 0.19;
+    
+    public:
+    Robot(Wheel* LW, Wheel* RW) {
+        leftWheel = LW;
+        rightWheel= RW;
+        
+        robotTranslationalVeocity = (lTemp + rTemp)/2;
+        };
+    
+    void turn(float angularVelocity){//positive value is right, negative value is left
+        
+        };
+        
+    void calculateTranslationalVelocity(){
+        robotTranslationalVeocity = (LW->calculateAngularVelocity() + RW->calculateAngularVelocity();)/2;
+        }
+        
+    void calculateAngularVelocity(){
+        robotAngularVelocity = (LW->calculateAngularVelocity() - RW->calculateAngularVelocity())/distanceBetweenWheels;
+        }
+    
+    void Turn(float degrees){
+        
+        }
+    
+    };
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Wheel.h	Mon Feb 18 13:13:34 2019 +0000
@@ -0,0 +1,63 @@
+class Wheel {
+    private:
+    float angularVelocity; //angular speed of the wheel
+    float linearVelocity;
+    PwmOut Mtr; //connect this pin to the motor driveboard pwm
+    DigitalOut direction; //connected to the direction pin of motor drive board
+    float static const wheelDiameter = 0.18;
+    Encoder* enc;
+    float const static MAV = 510;
+    
+    public:
+    Wheel (Encoder* E, PinName M, PinName C) : Mtr(M), direction(C) {
+        enc = E;
+        Mtr.write(1.0f); //duty cycle of 100%
+        Mtr.period_us(100000); //frequency of 1KHz 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
+        direction = 0;
+        Mtr.write(0.1f); //duty cycle of 0.1 -> turn it off
+        }
+        
+    
+    float calculateAngularVelocity(){ //returns a float value which is the angular velocity of the WHEEL
+        angularVelocity = ((enc->encoderTickRate())/512)*2*3.141593f;
+        return ((enc->encoderTickRate())/512)*2*3.141593f;
+        };
+    
+    void setDutyCycle(float f)
+    {
+        if (f > 1.0f)
+        {
+        Mtr.write(1);
+        }
+        else if (f < 0.0f)
+        {
+         Mtr.write (0);   
+        }else
+        {
+         Mtr.write(f);
+        }
+    };
+        
+    void setFrequency(int freq){
+        Mtr.period(1/freq);
+        };
+        
+    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
+    {
+        if (abs(W) >= MAV)
+        {
+            Mtr.write(1);
+        }else 
+            {
+            Mtr.write(abs(W)/MAV); //assuming linear relationship between dutcy cycle and speed.
+            }
+        if (W<0) 
+        { 
+        direction = 0; 
+        } else  { 
+        direction = 1; 
+                }
+    };
+    
+    };
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Feb 18 13:13:34 2019 +0000
@@ -0,0 +1,21 @@
+#include "mbed.h"
+#include "Encoder.h"
+#include "PID.h"
+#include "Wheel.h"
+#include "QEI.h"
+
+//blue D8
+//Green D9
+//Red D5
+
+int main() {
+    DigitalOut enable(PC_12);
+    enable.write(1);
+    Encoder* LE = new Encoder(A5,A4);
+    Encoder* RE = new Encoder(A2,A3);
+    Wheel* leftWheel = new Wheel(LE,PB_7,PB_14);
+    Wheel* rightWheel = new Wheel(RE,PA_15,PB_13);
+    
+    
+
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Feb 18 13:13:34 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc
\ No newline at end of file