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Show/hide line numbers pot.h Source File

pot.h

00001 #ifndef MBED_POT_H
00002 #define MBED_POT_H
00003 
00004 #include "QEI.h"
00005 #include "mbed.h"
00006  
00007 class Pot {
00008 public:
00009     Pot(PinName _pin, QEI* encoder, float offset);
00010     float get_angle();
00011     float angle_as_voltage();
00012     float get_angle_pulse();
00013     float get_position();
00014     int position_as_pulse();
00015     void set_zeros();
00016     void update();
00017     
00018     float angle;
00019     float position;
00020     float angular_velocity;
00021     float velocity; 
00022     void print_test();
00023     
00024     static const float UPDATE_TIME = 0.0001;
00025     
00026 
00027 private: 
00028     AnalogIn pend_angle;
00029     QEI* encoder;
00030     float offset;
00031     
00032     //ecnoder conts
00033     static const float TOTAL_PULSES_ON_TRACK = 5700;
00034     static const float TRACK_LENGTH_CM = 400;
00035     static const float CM_PER_PULSE = TRACK_LENGTH_CM/TOTAL_PULSES_ON_TRACK;
00036     
00037     //pot const
00038     static const float VOLTAGE_ANGLE_RATIO = 327.76;
00039     
00040     //motor const
00041     static const int STEPS_PER_ROTATION = 1024;
00042      
00043     
00044 };
00045  
00046 #endif