Developers_of_anti_slip_compensator / CURRENT_CONTROL

20160814

Fork of CURRENT_CONTROL by LDSC_Robotics_TAs

CURRENT_CONTROL.h@4:1a6ba05e7736, 2016-04-28 (annotated)

Committer:
adam_z
Date:
Thu Apr 28 09:07:32 2016 +0000
Revision:
4:1a6ba05e7736
Parent:
3:c787d1c5ad6a 
add back emf compensation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
adam_z 0:955aa05c968a 1 #ifndef __CURRENT_CONTROL_H__
adam_z 0:955aa05c968a 2 #define __CURRENT_CONTROL_H__
adam_z 0:955aa05c968a 3
adam_z 0:955aa05c968a 4 #include "mbed.h"
adam_z 0:955aa05c968a 5 #include "PID.h"
adam_z 0:955aa05c968a 6
adam_z 0:955aa05c968a 7
adam_z 3:c787d1c5ad6a 8
adam_z 3:c787d1c5ad6a 9 class LPF
adam_z 3:c787d1c5ad6a 10 {public:
adam_z 3:c787d1c5ad6a 11 float output, outputLast;
adam_z 3:c787d1c5ad6a 12
adam_z 3:c787d1c5ad6a 13 LPF(float samplingTime);
adam_z 3:c787d1c5ad6a 14 float filter(float input, float cutOff);
adam_z 3:c787d1c5ad6a 15
adam_z 3:c787d1c5ad6a 16 private:
adam_z 3:c787d1c5ad6a 17 float Ts;
adam_z 3:c787d1c5ad6a 18 };
adam_z 3:c787d1c5ad6a 19
adam_z 3:c787d1c5ad6a 20
adam_z 0:955aa05c968a 21 class CURRENT_CONTROL
adam_z 0:955aa05c968a 22 {
adam_z 0:955aa05c968a 23 public:
adam_z 1:c5973a56d474 24 typedef enum {
adam_z 1:c5973a56d474 25 PWM1,
adam_z 1:c5973a56d474 26 PWM2
adam_z 1:c5973a56d474 27 } PWMIndex;
adam_z 1:c5973a56d474 28
adam_z 1:c5973a56d474 29 CURRENT_CONTROL(PinName curChannel, PinName PwmChannel1, PinName PwmChannel2, PWMIndex pwmIndex, float Kp, float Ki, float Kd, float samplingTime);
adam_z 4:1a6ba05e7736 30 float saturation(float input, float limit_H, float limit_L);
adam_z 4:1a6ba05e7736 31 void Control(float curRef, float speed);
adam_z 4:1a6ba05e7736 32 void SetParams(float Analog2Cur, float angSpeed2Backemf, float voltage2DutyRatio);
adam_z 3:c787d1c5ad6a 33
adam_z 2:562bd14dfd3a 34 //functions for test////////
adam_z 0:955aa05c968a 35 void ChangePwmPeriod(float microSeconds);
adam_z 1:c5973a56d474 36 void SetPWMDuty(float ratio);
adam_z 2:562bd14dfd3a 37 float GetAnalogIn(void);
adam_z 2:562bd14dfd3a 38 float GetCurrent(void);
adam_z 2:562bd14dfd3a 39 //////////////////////////
adam_z 1:c5973a56d474 40 PWMIndex pwmIndex_;
adam_z 0:955aa05c968a 41 PID pid;
adam_z 0:955aa05c968a 42 PwmOut MotorPlus;
adam_z 0:955aa05c968a 43 PwmOut MotorMinus;
adam_z 0:955aa05c968a 44 float controlOutput;
adam_z 0:955aa05c968a 45
adam_z 0:955aa05c968a 46 float currentOffset;
adam_z 1:c5973a56d474 47 float curFeedBack;
adam_z 4:1a6ba05e7736 48
adam_z 1:c5973a56d474 49 AnalogIn currentAnalogIn;
adam_z 2:562bd14dfd3a 50 float analogInValue;
adam_z 2:562bd14dfd3a 51
adam_z 4:1a6ba05e7736 52 float analog2Cur;
adam_z 4:1a6ba05e7736 53 float Kw;
adam_z 4:1a6ba05e7736 54 float voltage2Duty;
adam_z 3:c787d1c5ad6a 55 LPF lpFilter;
adam_z 3:c787d1c5ad6a 56
adam_z 3:c787d1c5ad6a 57
adam_z 0:955aa05c968a 58 private:
adam_z 0:955aa05c968a 59
adam_z 0:955aa05c968a 60 float Ts;
adam_z 1:c5973a56d474 61
adam_z 0:955aa05c968a 62
adam_z 0:955aa05c968a 63 };
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adam_z 3:c787d1c5ad6a 95
adam_z 3:c787d1c5ad6a 96
adam_z 0:955aa05c968a 97 #endif