Developers_of_anti_slip_compensator / CURRENT_CONTROL

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

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 };
adam_z 0:955aa05c968a 64
adam_z 0:955aa05c968a 65
adam_z 0:955aa05c968a 66
adam_z 0:955aa05c968a 67
adam_z 0:955aa05c968a 68
adam_z 0:955aa05c968a 69
adam_z 0:955aa05c968a 70
adam_z 0:955aa05c968a 71
adam_z 0:955aa05c968a 72
adam_z 0:955aa05c968a 73
adam_z 0:955aa05c968a 74
adam_z 0:955aa05c968a 75
adam_z 0:955aa05c968a 76
adam_z 0:955aa05c968a 77
adam_z 0:955aa05c968a 78
adam_z 0:955aa05c968a 79
adam_z 0:955aa05c968a 80
adam_z 0:955aa05c968a 81
adam_z 0:955aa05c968a 82
adam_z 0:955aa05c968a 83
adam_z 0:955aa05c968a 84
adam_z 0:955aa05c968a 85
adam_z 0:955aa05c968a 86
adam_z 0:955aa05c968a 87
adam_z 0:955aa05c968a 88
adam_z 0:955aa05c968a 89
adam_z 0:955aa05c968a 90
adam_z 0:955aa05c968a 91
adam_z 0:955aa05c968a 92
adam_z 0:955aa05c968a 93
adam_z 0:955aa05c968a 94
adam_z 3:c787d1c5ad6a 95
adam_z 3:c787d1c5ad6a 96
adam_z 0:955aa05c968a 97 #endif