Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown

Dependencies:   mbed MODSERIAL FATFileSystem

LinearActuator/LinearActuator.hpp@11:3b241ecb75ed, 2017-10-27 (annotated)

Committer:
danstrider
Date:
Fri Oct 27 00:37:32 2017 +0000
Revision:
11:3b241ecb75ed
Parent:
10:085ab7328054
Child:
15:2a8cfd3f1cf5
This version has been in the pool, working with all the hardware.  Had occasional string pot problems and got stuck in RISE, letting the battery stall out against the endcap.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
danstrider 10:085ab7328054 1 #ifndef LINEARACTUATOR_HPP
danstrider 10:085ab7328054 2 #define LINEARACTUATOR_HPP
mkelly10 9:d5fcdcb3c89d 3
mkelly10 9:d5fcdcb3c89d 4 #include "mbed.h"
mkelly10 9:d5fcdcb3c89d 5 #include "PololuHbridge.hpp"
danstrider 10:085ab7328054 6 #include "PidController.hpp"
mkelly10 9:d5fcdcb3c89d 7 #include "ltc1298.hpp"
mkelly10 9:d5fcdcb3c89d 8 #include "PosVelFilter.hpp"
mkelly10 9:d5fcdcb3c89d 9
mkelly10 9:d5fcdcb3c89d 10 //Dependencies
mkelly10 9:d5fcdcb3c89d 11 //This Class requires adc readings to sense the position of the piston
mkelly10 9:d5fcdcb3c89d 12 //This is a resource that ends up being shared among other classes in the vehicle
mkelly10 9:d5fcdcb3c89d 13 //for this reason it makes sense for it to be its own entity that is started in
mkelly10 9:d5fcdcb3c89d 14 //the main line code
mkelly10 9:d5fcdcb3c89d 15
danstrider 10:085ab7328054 16 class LinearActuator {
mkelly10 9:d5fcdcb3c89d 17 public:
mkelly10 9:d5fcdcb3c89d 18 LinearActuator(float interval, PinName pwm, PinName dir, PinName reset, PinName limit, int adc_ch);
mkelly10 9:d5fcdcb3c89d 19
mkelly10 9:d5fcdcb3c89d 20 // functions for setting up
mkelly10 9:d5fcdcb3c89d 21 void init();
mkelly10 9:d5fcdcb3c89d 22 void update();
mkelly10 9:d5fcdcb3c89d 23 void start();
mkelly10 9:d5fcdcb3c89d 24 void stop();
mkelly10 9:d5fcdcb3c89d 25 void pause();
mkelly10 9:d5fcdcb3c89d 26 void unpause();
mkelly10 9:d5fcdcb3c89d 27
mkelly10 9:d5fcdcb3c89d 28 void refreshPVState();
mkelly10 9:d5fcdcb3c89d 29
mkelly10 9:d5fcdcb3c89d 30 // setting and getting variables
mkelly10 9:d5fcdcb3c89d 31 void setPosition_mm(float dist);
danstrider 11:3b241ecb75ed 32 float getSetPosition_mm();
danstrider 11:3b241ecb75ed 33
mkelly10 9:d5fcdcb3c89d 34 float getPosition_mm();
danstrider 11:3b241ecb75ed 35 float getPosition_counts();
mkelly10 9:d5fcdcb3c89d 36 float getVelocity_mms();
mkelly10 9:d5fcdcb3c89d 37
mkelly10 9:d5fcdcb3c89d 38 void setControllerP(float P);
mkelly10 9:d5fcdcb3c89d 39 float getControllerP();
mkelly10 9:d5fcdcb3c89d 40
mkelly10 9:d5fcdcb3c89d 41 void setControllerI(float I);
mkelly10 9:d5fcdcb3c89d 42 float getControllerI();
mkelly10 9:d5fcdcb3c89d 43
mkelly10 9:d5fcdcb3c89d 44 void setControllerD(float D);
mkelly10 9:d5fcdcb3c89d 45 float getControllerD();
mkelly10 9:d5fcdcb3c89d 46
mkelly10 9:d5fcdcb3c89d 47 void setZeroCounts(int zero);
mkelly10 9:d5fcdcb3c89d 48 int getZeroCounts();
mkelly10 9:d5fcdcb3c89d 49
mkelly10 9:d5fcdcb3c89d 50 void setTravelLimit(float limit);
mkelly10 9:d5fcdcb3c89d 51 float getTravelLimit();
mkelly10 9:d5fcdcb3c89d 52
mkelly10 9:d5fcdcb3c89d 53 void setPotSlope(float slope);
mkelly10 9:d5fcdcb3c89d 54 float getPotSlope();
mkelly10 9:d5fcdcb3c89d 55
mkelly10 9:d5fcdcb3c89d 56 void homePiston();
danstrider 10:085ab7328054 57 bool getSwitch();
mkelly10 9:d5fcdcb3c89d 58
mkelly10 9:d5fcdcb3c89d 59 float getOutput();
mkelly10 9:d5fcdcb3c89d 60
danstrider 10:085ab7328054 61 void setFilterFrequency(float frequency);
mkelly10 9:d5fcdcb3c89d 62
mkelly10 9:d5fcdcb3c89d 63 void setDeadband(float deadband);
danstrider 11:3b241ecb75ed 64 float getDeadband();
mkelly10 9:d5fcdcb3c89d 65 bool toggleDeadband(bool toggle);
mkelly10 9:d5fcdcb3c89d 66
mkelly10 9:d5fcdcb3c89d 67 protected:
mkelly10 9:d5fcdcb3c89d 68 PololuHBridge _motor;
mkelly10 9:d5fcdcb3c89d 69 PosVelFilter _filter;
mkelly10 9:d5fcdcb3c89d 70 PIDController _pid;
mkelly10 9:d5fcdcb3c89d 71 Ticker _pulse;
mkelly10 9:d5fcdcb3c89d 72 InterruptIn _limitSwitch;
mkelly10 9:d5fcdcb3c89d 73
mkelly10 9:d5fcdcb3c89d 74 void _switchPressed();
mkelly10 9:d5fcdcb3c89d 75 void _switchReleased();
mkelly10 9:d5fcdcb3c89d 76 void _calculateSensorSlope();
mkelly10 9:d5fcdcb3c89d 77
mkelly10 9:d5fcdcb3c89d 78 bool _init;
mkelly10 9:d5fcdcb3c89d 79 bool _paused;
mkelly10 9:d5fcdcb3c89d 80 bool _limit;
mkelly10 9:d5fcdcb3c89d 81
mkelly10 9:d5fcdcb3c89d 82 int _adc_channel;
mkelly10 9:d5fcdcb3c89d 83
mkelly10 9:d5fcdcb3c89d 84 float _filterFrequency;
mkelly10 9:d5fcdcb3c89d 85
mkelly10 9:d5fcdcb3c89d 86 float _dt;
mkelly10 9:d5fcdcb3c89d 87
mkelly10 9:d5fcdcb3c89d 88 float _SetPoint_mm;
mkelly10 9:d5fcdcb3c89d 89
danstrider 10:085ab7328054 90 // position and velocity in counts (PVF runs on counts)
mkelly10 9:d5fcdcb3c89d 91 float _position;
danstrider 10:085ab7328054 92 float _velocity;
danstrider 10:085ab7328054 93
danstrider 10:085ab7328054 94 // position and velocity converted to mm and mm/s
mkelly10 9:d5fcdcb3c89d 95 float _position_mm;
mkelly10 9:d5fcdcb3c89d 96 float _velocity_mms;
mkelly10 9:d5fcdcb3c89d 97
danstrider 10:085ab7328054 98 // linear actuator servo PID gains
mkelly10 9:d5fcdcb3c89d 99 float _Pgain;
mkelly10 9:d5fcdcb3c89d 100 float _Igain;
mkelly10 9:d5fcdcb3c89d 101 float _Dgain;
mkelly10 9:d5fcdcb3c89d 102
mkelly10 9:d5fcdcb3c89d 103 float _deadband;
mkelly10 9:d5fcdcb3c89d 104
mkelly10 9:d5fcdcb3c89d 105 int _zeroCounts; //gets assigned by homing function. can also be stored in config
mkelly10 9:d5fcdcb3c89d 106 float _extendLimit; //config variable, limits the extension of the piston, this is same as datum for normal operation,
mkelly10 9:d5fcdcb3c89d 107
mkelly10 9:d5fcdcb3c89d 108 float _slope;
mkelly10 9:d5fcdcb3c89d 109 int dist_to_counts(float dist);
mkelly10 9:d5fcdcb3c89d 110 float counts_to_dist(int count);
mkelly10 9:d5fcdcb3c89d 111 float counts_to_velocity(int count);
mkelly10 9:d5fcdcb3c89d 112
mkelly10 9:d5fcdcb3c89d 113 };
danstrider 10:085ab7328054 114
danstrider 10:085ab7328054 115
danstrider 10:085ab7328054 116 template <typename T>
danstrider 10:085ab7328054 117 T clamp(T value, T min, T max)
danstrider 10:085ab7328054 118 {
danstrider 10:085ab7328054 119 if(value < min) {
danstrider 10:085ab7328054 120 return min;
danstrider 10:085ab7328054 121 } else if(value > max) {
danstrider 10:085ab7328054 122 return max;
danstrider 10:085ab7328054 123 } else {
danstrider 10:085ab7328054 124 return value;
danstrider 10:085ab7328054 125 }
danstrider 10:085ab7328054 126 };
danstrider 10:085ab7328054 127
mkelly10 9:d5fcdcb3c89d 128 #endif