Developers_of_anti_slip_compensator / CURRENT_CONTROL

20160814

Fork of CURRENT_CONTROL by LDSC_Robotics_TAs

CURRENT_CONTROL.h

Committer:
adam_z
Date:
2016-04-22
Revision:
0:955aa05c968a
Child:
1:c5973a56d474

File content as of revision 0:955aa05c968a:

#ifndef __CURRENT_CONTROL_H__
#define __CURRENT_CONTROL_H__

#include "mbed.h"
#include "PID.h"


class CURRENT_CONTROL
{
public:
    
    void CURRENT_CONTROL(PinName curChannel, PinName PwmChannel1, PinName PwmChannel2, float Kp, float Ki, float Kd, float samplingTime);
    void ControlCompute(float curRef, float curFeedback);
    void ChangePwmPeriod(float microSeconds);
    
    typedef enum {
        PWM1;
        PWM2;
    } PWMIndex;
    
    PID pid;
    PwmOut MotorPlus;
    PwmOut MotorMinus;
    float controlOutput;

    float currentOffset;
    float currentFeedBack;
private:

    float Ts;
    AnalogIn currentAnalogIn;

};































#endif