Developers_of_anti_slip_compensator / CURRENT_CONTROL

20160814

Fork of CURRENT_CONTROL by LDSC_Robotics_TAs

CURRENT_CONTROL.h@2:562bd14dfd3a, 2016-04-22 (annotated)

Committer:
adam_z
Date:
Fri Apr 22 15:21:31 2016 +0000
Revision:
2:562bd14dfd3a
Parent:
1:c5973a56d474
Child:
3:c787d1c5ad6a
no problem till now

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 0:955aa05c968a 8 class CURRENT_CONTROL
adam_z 0:955aa05c968a 9 {
adam_z 0:955aa05c968a 10 public:
adam_z 1:c5973a56d474 11 typedef enum {
adam_z 1:c5973a56d474 12 PWM1,
adam_z 1:c5973a56d474 13 PWM2
adam_z 1:c5973a56d474 14 } PWMIndex;
adam_z 1:c5973a56d474 15
adam_z 1:c5973a56d474 16 CURRENT_CONTROL(PinName curChannel, PinName PwmChannel1, PinName PwmChannel2, PWMIndex pwmIndex, float Kp, float Ki, float Kd, float samplingTime);
adam_z 1:c5973a56d474 17 void Control(float curRef);
adam_z 2:562bd14dfd3a 18 void SetAnalog2Cur(float ratio);
adam_z 2:562bd14dfd3a 19 //functions for test////////
adam_z 0:955aa05c968a 20 void ChangePwmPeriod(float microSeconds);
adam_z 1:c5973a56d474 21 void SetPWMDuty(float ratio);
adam_z 2:562bd14dfd3a 22 float GetAnalogIn(void);
adam_z 2:562bd14dfd3a 23 float GetCurrent(void);
adam_z 2:562bd14dfd3a 24 //////////////////////////
adam_z 1:c5973a56d474 25 PWMIndex pwmIndex_;
adam_z 0:955aa05c968a 26 PID pid;
adam_z 0:955aa05c968a 27 PwmOut MotorPlus;
adam_z 0:955aa05c968a 28 PwmOut MotorMinus;
adam_z 0:955aa05c968a 29 float controlOutput;
adam_z 0:955aa05c968a 30
adam_z 0:955aa05c968a 31 float currentOffset;
adam_z 1:c5973a56d474 32 float curFeedBack;
adam_z 1:c5973a56d474 33 float analog2Cur;
adam_z 1:c5973a56d474 34 AnalogIn currentAnalogIn;
adam_z 2:562bd14dfd3a 35 float analogInValue;
adam_z 2:562bd14dfd3a 36
adam_z 0:955aa05c968a 37 private:
adam_z 0:955aa05c968a 38
adam_z 0:955aa05c968a 39 float Ts;
adam_z 1:c5973a56d474 40
adam_z 0:955aa05c968a 41
adam_z 0:955aa05c968a 42 };
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adam_z 0:955aa05c968a 74 #endif