FSG
/
Battery_Linear_Actuator
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Dependents: 7_21_17_FSG 7_26_17_FSG
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Battery_Linear_Actuator_
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FSG
Battery_Linear_Actuator.h@1:ca2454ef80d9, 2017-06-30 (annotated)
- Committer:
- mdavis30
- Date:
- Fri Jun 30 18:32:40 2017 +0000
- Revision:
- 1:ca2454ef80d9
- Parent:
- 0:645ad86abcba
- Child:
- 2:627fd46c2b99
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| mdavis30 | 0:645ad86abcba | 1 | #ifndef BATTERY_LINEAR_ACTUATOR_H |
| mdavis30 | 0:645ad86abcba | 2 | #define BATTERY_LINEAR_ACTUATOR_H |
| mdavis30 | 0:645ad86abcba | 3 | |
| mdavis30 | 0:645ad86abcba | 4 | #include <string> |
| mdavis30 | 0:645ad86abcba | 5 | using namespace std; |
| mdavis30 | 0:645ad86abcba | 6 | |
| mdavis30 | 0:645ad86abcba | 7 | class Battery_Linear_Actuator |
| mdavis30 | 0:645ad86abcba | 8 | { |
| mdavis30 | 1:ca2454ef80d9 | 9 | std::string::size_type sz; // alias of size_t //TEST 6/21 |
| mdavis30 | 1:ca2454ef80d9 | 10 | |
| mdavis30 | 1:ca2454ef80d9 | 11 | |
| mdavis30 | 0:645ad86abcba | 12 | //CLASS VARIABLES and DEFINITIONS |
| mdavis30 | 0:645ad86abcba | 13 | int motor_absolute_position; |
| mdavis30 | 0:645ad86abcba | 14 | //float pot_check_inches; |
| mdavis30 | 0:645ad86abcba | 15 | |
| mdavis30 | 0:645ad86abcba | 16 | int linear_actuator_step_size; //default confirmed with Dan Edwards |
| mdavis30 | 0:645ad86abcba | 17 | int linear_actuator_motor_speed; //5 seconds of full travel between 0 and 175,000 (1000 is about 3 seconds) |
| mdavis30 | 0:645ad86abcba | 18 | |
| mdavis30 | 0:645ad86abcba | 19 | int map_check; |
| mdavis30 | 1:ca2454ef80d9 | 20 | |
| mdavis30 | 1:ca2454ef80d9 | 21 | int actual_position; |
| mdavis30 | 1:ca2454ef80d9 | 22 | |
| mdavis30 | 1:ca2454ef80d9 | 23 | // float la_P_gain; |
| mdavis30 | 1:ca2454ef80d9 | 24 | // float la_I_gain; |
| mdavis30 | 1:ca2454ef80d9 | 25 | // float la_D_gain; |
| mdavis30 | 1:ca2454ef80d9 | 26 | float curr_time; |
| mdavis30 | 1:ca2454ef80d9 | 27 | float dt; |
| mdavis30 | 1:ca2454ef80d9 | 28 | float la_error; |
| mdavis30 | 1:ca2454ef80d9 | 29 | float la_error_sum; |
| mdavis30 | 1:ca2454ef80d9 | 30 | float la_derivative_error; |
| mdavis30 | 1:ca2454ef80d9 | 31 | float lastErr; |
| mdavis30 | 1:ca2454ef80d9 | 32 | float lastTime; |
| mdavis30 | 1:ca2454ef80d9 | 33 | |
| mdavis30 | 1:ca2454ef80d9 | 34 | float la_integral; |
| mdavis30 | 1:ca2454ef80d9 | 35 | float la_output; |
| mdavis30 | 0:645ad86abcba | 36 | |
| mdavis30 | 0:645ad86abcba | 37 | public: |
| mdavis30 | 1:ca2454ef80d9 | 38 | Battery_Linear_Actuator(); //pass variables to a constructor (don't need anything passed to it) |
| mdavis30 | 0:645ad86abcba | 39 | |
| mdavis30 | 0:645ad86abcba | 40 | |
| mdavis30 | 1:ca2454ef80d9 | 41 | //Function declarations for KEYBOARD FUNCTIONS //don't forget the semi-colon! |
| mdavis30 | 0:645ad86abcba | 42 | string Keyboard_A(); |
| mdavis30 | 0:645ad86abcba | 43 | string Keyboard_D(); |
| mdavis30 | 1:ca2454ef80d9 | 44 | string Keyboard_E(); |
| mdavis30 | 0:645ad86abcba | 45 | string Keyboard_H(); |
| mdavis30 | 0:645ad86abcba | 46 | string Keyboard_I(); |
| mdavis30 | 1:ca2454ef80d9 | 47 | string Keyboard_J(); |
| mdavis30 | 1:ca2454ef80d9 | 48 | string Keyboard_K(); |
| mdavis30 | 1:ca2454ef80d9 | 49 | string Keyboard_L(); |
| mdavis30 | 0:645ad86abcba | 50 | string Keyboard_O(); |
| mdavis30 | 1:ca2454ef80d9 | 51 | string Keyboard_U(); |
| mdavis30 | 0:645ad86abcba | 52 | void Keyboard_P(); |
| mdavis30 | 1:ca2454ef80d9 | 53 | string Keyboard_Q(); |
| mdavis30 | 1:ca2454ef80d9 | 54 | |
| mdavis30 | 1:ca2454ef80d9 | 55 | //new stuff 6/19/17 |
| mdavis30 | 1:ca2454ef80d9 | 56 | string Velocity(int velocity); |
| mdavis30 | 1:ca2454ef80d9 | 57 | string get_pos(); |
| mdavis30 | 1:ca2454ef80d9 | 58 | |
| mdavis30 | 1:ca2454ef80d9 | 59 | //new 6/22/17 |
| mdavis30 | 1:ca2454ef80d9 | 60 | string velocity_only(int velocity); |
| mdavis30 | 1:ca2454ef80d9 | 61 | |
| mdavis30 | 1:ca2454ef80d9 | 62 | |
| mdavis30 | 1:ca2454ef80d9 | 63 | string PID_velocity_control(float la_setPoint, float IMU_pitch_angle, float la_P_gain, float la_I_gain, float la_D_gain); |
| mdavis30 | 1:ca2454ef80d9 | 64 | |
| mdavis30 | 0:645ad86abcba | 65 | int MC_readable(); |
| mdavis30 | 1:ca2454ef80d9 | 66 | char MC_getc(); //return the character that is received from MC.getc() |
| mdavis30 | 1:ca2454ef80d9 | 67 | string MC_readable_redux(); |
| mdavis30 | 0:645ad86abcba | 68 | |
| mdavis30 | 0:645ad86abcba | 69 | string Keyboard_LEFT_BRACKET(); |
| mdavis30 | 0:645ad86abcba | 70 | string Keyboard_RIGHT_BRACKET(); |
| mdavis30 | 0:645ad86abcba | 71 | |
| mdavis30 | 0:645ad86abcba | 72 | string Keyboard_EQUAL_KEY(); |
| mdavis30 | 0:645ad86abcba | 73 | string Keyboard_DASH_KEY(); |
| mdavis30 | 0:645ad86abcba | 74 | }; |
| mdavis30 | 0:645ad86abcba | 75 | |
| mdavis30 | 0:645ad86abcba | 76 | #endif /* BATTERY_LINEAR_ACTUATOR_H_ */ |