Roboter.h

00001 #ifndef ROBOTER_H
00002 #define ROBOTER_H
00003 
00004 #include <mbed.h>
00005 #include "IRSensor.h"
00006 #include "Servo.h"
00007 #include "readCamera.h"
00008 #include "EncoderCounter.h"
00009 #include "LowpassFilter.h"
00010 
00011 
00012 class Roboter
00013 {
00014 
00015 public:
00016 
00017     Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, PwmOut* pwmL, PwmOut* pwmR, Servo* servo1, Servo* servo2, EncoderCounter* counterLeft, EncoderCounter* counterRight, DigitalOut* enableMotorDriver);
00018 
00019     void ausweichen1();
00020     int ausweichen2();
00021     int readSensors();
00022     int pickup();
00023     void anfahren(float cam);
00024     int geradeFahren();
00025     int kreisFahren();
00026     int stateAuswahl(float cam, int tempState, int temp);
00027     void initSpeedcontrol();
00028     void speedCtrl();
00029     int back();
00030 
00031 
00032 
00033     static const float PERIOD = 0.001f;                    // period of control task, given in [s]
00034     static const float COUNTS_PER_TURN = 1200.0f;          // resolution of encoder counter
00035     static const float LOWPASS_FILTER_FREQUENCY = 300.0f;  // frequency of lowpass filter for actual speed values, given in [rad/s]
00036     static const float KN = 40.0f;                         // speed constant of motor, given in [rpm/V]
00037     static const float KP = 0.2f;                          // speed controller gain, given in [V/rpm]
00038     static const float MAX_VOLTAGE = 12.0f;                // supply voltage for power stage in [V]
00039     static const float MIN_DUTY_CYCLE = 0.02f;             // minimum allowed value for duty cycle (2%)
00040     static const float MAX_DUTY_CYCLE = 0.98f;             // maximum allowed value for duty cycle (98%)
00041     static const float correction = 0.97f;                 // Korrekturfaktor für speedControl
00042     static const float v = 30.0f;                          // Min. Geschw.
00043 
00044     
00045 private:
00046 
00047     IRSensor sensors[6];
00048 
00049     PwmOut* pwmL;
00050     PwmOut* pwmR;
00051     Servo* servo1;
00052     Servo* servo2;
00053 
00054 //speed control------------------
00055 
00056     EncoderCounter* counterRight;
00057     EncoderCounter* counterLeft;
00058     DigitalOut* enableMotorDriver;
00059 
00060     short previousValueCounterRight;
00061     short previousValueCounterLeft;
00062 
00063     float desiredSpeedLeft;
00064     float desiredSpeedRight;
00065 
00066     float actualSpeedLeft;
00067     float actualSpeedRight;
00068 
00069     LowpassFilter speedLeftFilter;
00070     LowpassFilter speedRightFilter;
00071 
00072     Ticker t1;
00073 
00074 //speed control------------------
00075 
00076 };
00077 
00078 #endif