Diff: Roboter.h

Revision:

18:3ee1b02ed3aa

Parent:

17:caf5ae550f2e

Child:

19:adae367247d4

--- a/Roboter.h	Tue Apr 25 12:26:04 2017 +0000
+++ b/Roboter.h	Tue May 09 15:25:54 2017 +0000
@@ -5,37 +5,72 @@
 #include "IRSensor.h"
 #include "Servo.h"
 #include "readCamera.h"
+#include "EncoderCounter.h"
+#include "LowpassFilter.h"
+
 
 class Roboter
 {
 
 public:
 
-    Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2,   PwmOut * pwmL, PwmOut* pwmR, Servo* s1, Servo* s2);
+    Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, PwmOut* pwmL, PwmOut* pwmR, Servo* servo1, Servo* servo2, EncoderCounter* counterLeft, EncoderCounter* counterRight, DigitalOut* enableMotorDriver);
 
     void bandeAusweichen();
     float readSensor1();
-    void pickup();
+    int pickup();
+    void anfahren(float cam);
+    int geradeFahren();
+    int kreisFahren();
+    int stateAuswahl(float cam, int temp);
+    void initSpeedcontrol();
+    void speedCtrl();
 
 
 
+    static const float PERIOD = 0.001f;                    // period of control task, given in [s]
+    static const float COUNTS_PER_TURN = 1200.0f;          // resolution of encoder counter
+    static const float LOWPASS_FILTER_FREQUENCY = 300.0f;  // frequency of lowpass filter for actual speed values, given in [rad/s]
+    static const float KN = 40.0f;                         // speed constant of motor, given in [rpm/V]
+    static const float KP = 0.2f;                          // speed controller gain, given in [V/rpm]
+    static const float MAX_VOLTAGE = 12.0f;                // supply voltage for power stage in [V]
+    static const float MIN_DUTY_CYCLE = 0.02f;             // minimum allowed value for duty cycle (2%)
+    static const float MAX_DUTY_CYCLE = 0.98f;             // maximum allowed value for duty cycle (98%)
+    static const float correction = 0.97f;                 // Korrekturfaktor für speedControl
+    static const float v = 20.0f;                          // Min. Geschw.
+
+    
 private:
+
     IRSensor sensors[6];
 
-
     PwmOut* pwmL;
     PwmOut* pwmR;
-    Servo*s1;
-    Servo*s2;
-    DigitalIn * switch1;
-    DigitalIn* switch2; 
+    Servo* servo1;
+    Servo* servo2;
+
+//speed control------------------
+
+    EncoderCounter* counterRight;
+    EncoderCounter* counterLeft;
+    DigitalOut* enableMotorDriver;
+
+    short previousValueCounterRight;
+    short previousValueCounterLeft;
 
+    float desiredSpeedLeft;
+    float desiredSpeedRight;
 
+    float actualSpeedLeft;
+    float actualSpeedRight;
 
+    LowpassFilter speedLeftFilter;
+    LowpassFilter speedRightFilter;
 
+    Ticker t1;
+
+//speed control------------------
 
 };
 
-
-
 #endif
\ No newline at end of file