Diff: WheelControl/Wheel.h

Revision:

10:acf5cb8d58d5

Parent:

9:cefa177c1353

Child:

11:78c645fb76cd

--- a/WheelControl/Wheel.h	Fri Apr 05 16:11:28 2019 +0000
+++ b/WheelControl/Wheel.h	Sun Apr 28 18:27:46 2019 +0000
@@ -4,8 +4,9 @@
     
     float distance; //distance traversed by wheel
     float angularVelocity;
+    int br;
     
-        float const static gain = 0.9f; //closed loop gain, (amount to amplify the difference) you have to tune this value
+        float const static gain = 1.1f; //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
@@ -25,7 +26,7 @@
     
     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,6.0f,0.00005f,0.0005f)
+    Wheel (Encoder* E, PinName M, PinName D, PinName Mode) : Mtr(M), direction(D), polarity(Mode), controller(gain,4.0f,0.00002f,0.0003f)
         {
         maxAngularVel = 0.0f;
         enc = E;
@@ -67,7 +68,7 @@
       Mtr.write(0); //max speed
       angularVelocity = 10.0f;
       if (dir == 0) {direction = 0;} else {direction = 1;}
-      updater.attach(callback(this, &Wheel::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
+      updater.attach(callback(this, &Wheel::init2),0.6f);
     }
     
     void init2(void) //used as a temporarily wait command for the wheel to spin to max
@@ -92,12 +93,17 @@
     
     void wheelUpdates(void) //sampling rate the ticker is attached I.E the wheel speed is updated everytime this function is called
         {
+            if (br == 0) {
             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
-            
+            }
+            else
+            {
+                return;
+            }
         }
         
     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
@@ -132,4 +138,15 @@
         return tempPTR;
     }
     
+    void setBR (int p)
+    {
+        br = p;
+    }
+    
+    void brake()
+    {
+        direction = 0;
+        Mtr.write(0);
+    }
+    
 };
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