Developers_of_anti_slip_compensator / CURRENT_CONTROL

20160814

Fork of CURRENT_CONTROL by LDSC_Robotics_TAs

CURRENT_CONTROL.h@0:955aa05c968a, 2016-04-22 (annotated)

Committer:
adam_z
Date:
Fri Apr 22 09:39:01 2016 +0000
Revision:
0:955aa05c968a
Child:
1:c5973a56d474
started;

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 0:955aa05c968a 11
adam_z 0:955aa05c968a 12 void CURRENT_CONTROL(PinName curChannel, PinName PwmChannel1, PinName PwmChannel2, float Kp, float Ki, float Kd, float samplingTime);
adam_z 0:955aa05c968a 13 void ControlCompute(float curRef, float curFeedback);
adam_z 0:955aa05c968a 14 void ChangePwmPeriod(float microSeconds);
adam_z 0:955aa05c968a 15
adam_z 0:955aa05c968a 16 typedef enum {
adam_z 0:955aa05c968a 17 PWM1;
adam_z 0:955aa05c968a 18 PWM2;
adam_z 0:955aa05c968a 19 } PWMIndex;
adam_z 0:955aa05c968a 20
adam_z 0:955aa05c968a 21 PID pid;
adam_z 0:955aa05c968a 22 PwmOut MotorPlus;
adam_z 0:955aa05c968a 23 PwmOut MotorMinus;
adam_z 0:955aa05c968a 24 float controlOutput;
adam_z 0:955aa05c968a 25
adam_z 0:955aa05c968a 26 float currentOffset;
adam_z 0:955aa05c968a 27 float currentFeedBack;
adam_z 0:955aa05c968a 28 private:
adam_z 0:955aa05c968a 29
adam_z 0:955aa05c968a 30 float Ts;
adam_z 0:955aa05c968a 31 AnalogIn currentAnalogIn;
adam_z 0:955aa05c968a 32
adam_z 0:955aa05c968a 33 };
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adam_z 0:955aa05c968a 65 #endif