Diff: WheelControl/Wheel.h

Revision:

8:5ed6685f6edd

Parent:

6:477382219bcf

Child:

9:cefa177c1353

--- a/WheelControl/Wheel.h	Thu Mar 28 01:07:54 2019 +0000
+++ b/WheelControl/Wheel.h	Sun Mar 31 20:31:30 2019 +0000
@@ -2,8 +2,6 @@
 {
     private:
     
-    
-    
     float distance; //distance traversed by wheel
     float angularVelocity;
     
@@ -22,12 +20,12 @@
     
     public:
     
-    float   maxAngularVel;
-    float   minAngularVel; 
+    float  maxAngularVel;
+    float  minAngularVel; 
     
     float static const wheelDiameter = 0.18; //used in calculation of Linear velocity i.e never
     
-    Wheel (Encoder* E, PinName M, PinName D, PinName Mode) : Mtr(M), direction(D), polarity(Mode), controller(gain,2.0f,0.0f,0.0005f)
+    Wheel (Encoder* E, PinName M, PinName D, PinName Mode) : Mtr(M), direction(D), polarity(Mode), controller(gain,3.0f,0.00005f,0.0005f)
         {
         maxAngularVel = 0.0f;
         enc = E;
@@ -75,7 +73,6 @@
     void init2(void) //used as a temporarily wait command for the wheel to spin to max
     {
         enc->startTimer();
-        updater.detach();
         calculateAngularVelocity();
         maxAngularVel = 60.0f;
         minAngularVel = -1.0f*maxAngularVel;
@@ -96,15 +93,16 @@
     void wheelUpdates(void) //sampling rate the ticker is attached I.E the wheel speed is updated everytime this function is called
         {
             calculateAngularVelocity();
+            //distance += angularVelocity*(wheelDiameter/2)*0.0005f;
             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)
@@ -112,6 +110,11 @@
     return distance; //distance traversed by wheel
     }
     
+    void stop()
+    {
+        controller.setSetPoint(0);
+    }
+    
     float returnMaxAngularVel(void)
     {
         return  maxAngularVel;