Gruppe 3 / Mbed 2 deprecated PES3

hallo

Dependencies:   Servo mbed pixy

Fork of PES1 by Gruppe 3

Roboter.h@18:3ee1b02ed3aa, 2017-05-09 (annotated)

Committer:
itslinear
Date:
Tue May 09 15:25:54 2017 +0000
Revision:
18:3ee1b02ed3aa
Parent:
17:caf5ae550f2e
Child:
19:adae367247d4
new

Who changed what in which revision?

UserRevisionLine numberNew contents of line
itslinear 0:306a2438de17 1 #ifndef ROBOTER_H
itslinear 0:306a2438de17 2 #define ROBOTER_H
itslinear 0:306a2438de17 3
itslinear 0:306a2438de17 4 #include <mbed.h>
itslinear 0:306a2438de17 5 #include "IRSensor.h"
schneju2 2:953263712480 6 #include "Servo.h"
Shukle 10:75a18bf17c86 7 #include "readCamera.h"
itslinear 18:3ee1b02ed3aa 8 #include "EncoderCounter.h"
itslinear 18:3ee1b02ed3aa 9 #include "LowpassFilter.h"
itslinear 18:3ee1b02ed3aa 10
itslinear 0:306a2438de17 11
itslinear 1:4e84271a70c6 12 class Roboter
itslinear 0:306a2438de17 13 {
itslinear 1:4e84271a70c6 14
itslinear 0:306a2438de17 15 public:
itslinear 0:306a2438de17 16
itslinear 18:3ee1b02ed3aa 17 Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, PwmOut* pwmL, PwmOut* pwmR, Servo* servo1, Servo* servo2, EncoderCounter* counterLeft, EncoderCounter* counterRight, DigitalOut* enableMotorDriver);
itslinear 1:4e84271a70c6 18
itslinear 1:4e84271a70c6 19 void bandeAusweichen();
itslinear 1:4e84271a70c6 20 float readSensor1();
itslinear 18:3ee1b02ed3aa 21 int pickup();
itslinear 18:3ee1b02ed3aa 22 void anfahren(float cam);
itslinear 18:3ee1b02ed3aa 23 int geradeFahren();
itslinear 18:3ee1b02ed3aa 24 int kreisFahren();
itslinear 18:3ee1b02ed3aa 25 int stateAuswahl(float cam, int temp);
itslinear 18:3ee1b02ed3aa 26 void initSpeedcontrol();
itslinear 18:3ee1b02ed3aa 27 void speedCtrl();
itslinear 6:4af735d26b7a 28
itslinear 3:24e098715b78 29
itslinear 0:306a2438de17 30
itslinear 18:3ee1b02ed3aa 31 static const float PERIOD = 0.001f; // period of control task, given in [s]
itslinear 18:3ee1b02ed3aa 32 static const float COUNTS_PER_TURN = 1200.0f; // resolution of encoder counter
itslinear 18:3ee1b02ed3aa 33 static const float LOWPASS_FILTER_FREQUENCY = 300.0f; // frequency of lowpass filter for actual speed values, given in [rad/s]
itslinear 18:3ee1b02ed3aa 34 static const float KN = 40.0f; // speed constant of motor, given in [rpm/V]
itslinear 18:3ee1b02ed3aa 35 static const float KP = 0.2f; // speed controller gain, given in [V/rpm]
itslinear 18:3ee1b02ed3aa 36 static const float MAX_VOLTAGE = 12.0f; // supply voltage for power stage in [V]
itslinear 18:3ee1b02ed3aa 37 static const float MIN_DUTY_CYCLE = 0.02f; // minimum allowed value for duty cycle (2%)
itslinear 18:3ee1b02ed3aa 38 static const float MAX_DUTY_CYCLE = 0.98f; // maximum allowed value for duty cycle (98%)
itslinear 18:3ee1b02ed3aa 39 static const float correction = 0.97f; // Korrekturfaktor für speedControl
itslinear 18:3ee1b02ed3aa 40 static const float v = 20.0f; // Min. Geschw.
itslinear 18:3ee1b02ed3aa 41
itslinear 18:3ee1b02ed3aa 42
itslinear 1:4e84271a70c6 43 private:
itslinear 18:3ee1b02ed3aa 44
itslinear 1:4e84271a70c6 45 IRSensor sensors[6];
itslinear 3:24e098715b78 46
itslinear 1:4e84271a70c6 47 PwmOut* pwmL;
itslinear 1:4e84271a70c6 48 PwmOut* pwmR;
itslinear 18:3ee1b02ed3aa 49 Servo* servo1;
itslinear 18:3ee1b02ed3aa 50 Servo* servo2;
itslinear 18:3ee1b02ed3aa 51
itslinear 18:3ee1b02ed3aa 52 //speed control------------------
itslinear 18:3ee1b02ed3aa 53
itslinear 18:3ee1b02ed3aa 54 EncoderCounter* counterRight;
itslinear 18:3ee1b02ed3aa 55 EncoderCounter* counterLeft;
itslinear 18:3ee1b02ed3aa 56 DigitalOut* enableMotorDriver;
itslinear 18:3ee1b02ed3aa 57
itslinear 18:3ee1b02ed3aa 58 short previousValueCounterRight;
itslinear 18:3ee1b02ed3aa 59 short previousValueCounterLeft;
itslinear 3:24e098715b78 60
itslinear 18:3ee1b02ed3aa 61 float desiredSpeedLeft;
itslinear 18:3ee1b02ed3aa 62 float desiredSpeedRight;
itslinear 3:24e098715b78 63
itslinear 18:3ee1b02ed3aa 64 float actualSpeedLeft;
itslinear 18:3ee1b02ed3aa 65 float actualSpeedRight;
itslinear 0:306a2438de17 66
itslinear 18:3ee1b02ed3aa 67 LowpassFilter speedLeftFilter;
itslinear 18:3ee1b02ed3aa 68 LowpassFilter speedRightFilter;
itslinear 0:306a2438de17 69
itslinear 18:3ee1b02ed3aa 70 Ticker t1;
itslinear 18:3ee1b02ed3aa 71
itslinear 18:3ee1b02ed3aa 72 //speed control------------------
itslinear 0:306a2438de17 73
itslinear 1:4e84271a70c6 74 };
itslinear 0:306a2438de17 75
itslinear 1:4e84271a70c6 76 #endif