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@9:d5fcdcb3c89d, 2017-10-20 (annotated)

Committer:
mkelly10
Date:
Fri Oct 20 11:41:22 2017 +0000
Revision:
9:d5fcdcb3c89d
Child:
10:085ab7328054
Tested 10/19/17 Folders

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mkelly10 9:d5fcdcb3c89d 1 #ifndef BCE_HPP
mkelly10 9:d5fcdcb3c89d 2 #define BCE_HPP
mkelly10 9:d5fcdcb3c89d 3
mkelly10 9:d5fcdcb3c89d 4 #include "mbed.h"
mkelly10 9:d5fcdcb3c89d 5 #include "PololuHbridge.hpp"
mkelly10 9:d5fcdcb3c89d 6 #include "controller.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
mkelly10 9:d5fcdcb3c89d 16 class LinearActuator
mkelly10 9:d5fcdcb3c89d 17 {
mkelly10 9:d5fcdcb3c89d 18 public:
mkelly10 9:d5fcdcb3c89d 19 //BuoyancyEngine(PololuHBridge motor, SpiADC adc, PosVelFilter filter, PositionController pid);
mkelly10 9:d5fcdcb3c89d 20 LinearActuator(float interval, PinName pwm, PinName dir, PinName reset, PinName limit, int adc_ch);
mkelly10 9:d5fcdcb3c89d 21
mkelly10 9:d5fcdcb3c89d 22 // functions for setting up
mkelly10 9:d5fcdcb3c89d 23 void init();
mkelly10 9:d5fcdcb3c89d 24 void update();
mkelly10 9:d5fcdcb3c89d 25 void start();
mkelly10 9:d5fcdcb3c89d 26 void stop();
mkelly10 9:d5fcdcb3c89d 27 void pause();
mkelly10 9:d5fcdcb3c89d 28 void unpause();
mkelly10 9:d5fcdcb3c89d 29
mkelly10 9:d5fcdcb3c89d 30 void refreshPVState();
mkelly10 9:d5fcdcb3c89d 31
mkelly10 9:d5fcdcb3c89d 32 // setting and getting variables
mkelly10 9:d5fcdcb3c89d 33 void setPosition_mm(float dist);
mkelly10 9:d5fcdcb3c89d 34
mkelly10 9:d5fcdcb3c89d 35 float getPosition_mm();
mkelly10 9:d5fcdcb3c89d 36 float getPosition_counts();
mkelly10 9:d5fcdcb3c89d 37
mkelly10 9:d5fcdcb3c89d 38 float getVelocity_mms();
mkelly10 9:d5fcdcb3c89d 39
mkelly10 9:d5fcdcb3c89d 40 void setControllerP(float P);
mkelly10 9:d5fcdcb3c89d 41 float getControllerP();
mkelly10 9:d5fcdcb3c89d 42
mkelly10 9:d5fcdcb3c89d 43 void setControllerI(float I);
mkelly10 9:d5fcdcb3c89d 44 float getControllerI();
mkelly10 9:d5fcdcb3c89d 45
mkelly10 9:d5fcdcb3c89d 46 void setControllerD(float D);
mkelly10 9:d5fcdcb3c89d 47 float getControllerD();
mkelly10 9:d5fcdcb3c89d 48
mkelly10 9:d5fcdcb3c89d 49 void setZeroCounts(int zero);
mkelly10 9:d5fcdcb3c89d 50 int getZeroCounts();
mkelly10 9:d5fcdcb3c89d 51
mkelly10 9:d5fcdcb3c89d 52 void setTravelLimit(float limit);
mkelly10 9:d5fcdcb3c89d 53 float getTravelLimit();
mkelly10 9:d5fcdcb3c89d 54
mkelly10 9:d5fcdcb3c89d 55 void setPotSlope(float slope);
mkelly10 9:d5fcdcb3c89d 56 float getPotSlope();
mkelly10 9:d5fcdcb3c89d 57
mkelly10 9:d5fcdcb3c89d 58 void homePiston();
mkelly10 9:d5fcdcb3c89d 59 void setFilterFrequency(float frequency);
mkelly10 9:d5fcdcb3c89d 60
mkelly10 9:d5fcdcb3c89d 61 float getOutput();
mkelly10 9:d5fcdcb3c89d 62
mkelly10 9:d5fcdcb3c89d 63 bool getSwitch();
mkelly10 9:d5fcdcb3c89d 64
mkelly10 9:d5fcdcb3c89d 65 void setDeadband(float deadband);
mkelly10 9:d5fcdcb3c89d 66 bool toggleDeadband(bool toggle);
mkelly10 9:d5fcdcb3c89d 67
mkelly10 9:d5fcdcb3c89d 68 protected:
mkelly10 9:d5fcdcb3c89d 69 PololuHBridge _motor;
mkelly10 9:d5fcdcb3c89d 70 PosVelFilter _filter;
mkelly10 9:d5fcdcb3c89d 71 PIDController _pid;
mkelly10 9:d5fcdcb3c89d 72 //Timer _time;
mkelly10 9:d5fcdcb3c89d 73 Ticker _pulse;
mkelly10 9:d5fcdcb3c89d 74 InterruptIn _limitSwitch;
mkelly10 9:d5fcdcb3c89d 75
mkelly10 9:d5fcdcb3c89d 76 void _switchPressed();
mkelly10 9:d5fcdcb3c89d 77 void _switchReleased();
mkelly10 9:d5fcdcb3c89d 78 void _calculateSensorSlope();
mkelly10 9:d5fcdcb3c89d 79
mkelly10 9:d5fcdcb3c89d 80
mkelly10 9:d5fcdcb3c89d 81 bool _init;
mkelly10 9:d5fcdcb3c89d 82 bool _paused;
mkelly10 9:d5fcdcb3c89d 83 bool _limit;
mkelly10 9:d5fcdcb3c89d 84
mkelly10 9:d5fcdcb3c89d 85 int _adc_channel;
mkelly10 9:d5fcdcb3c89d 86
mkelly10 9:d5fcdcb3c89d 87 float _filterFrequency;
mkelly10 9:d5fcdcb3c89d 88
mkelly10 9:d5fcdcb3c89d 89 float _dt;
mkelly10 9:d5fcdcb3c89d 90
mkelly10 9:d5fcdcb3c89d 91 float _SetPoint_mm;
mkelly10 9:d5fcdcb3c89d 92
mkelly10 9:d5fcdcb3c89d 93 float _position;
mkelly10 9:d5fcdcb3c89d 94 float _position_mm;
mkelly10 9:d5fcdcb3c89d 95
mkelly10 9:d5fcdcb3c89d 96 float _velocity;
mkelly10 9:d5fcdcb3c89d 97 float _velocity_mms;
mkelly10 9:d5fcdcb3c89d 98
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 float _pos_vel_wn; //config variable, natural frequecny of the position velocity filter
mkelly10 9:d5fcdcb3c89d 108
mkelly10 9:d5fcdcb3c89d 109 float _slope;
mkelly10 9:d5fcdcb3c89d 110 int dist_to_counts(float dist);
mkelly10 9:d5fcdcb3c89d 111 float counts_to_dist(int count);
mkelly10 9:d5fcdcb3c89d 112 float counts_to_velocity(int count);
mkelly10 9:d5fcdcb3c89d 113
mkelly10 9:d5fcdcb3c89d 114 };
mkelly10 9:d5fcdcb3c89d 115
mkelly10 9:d5fcdcb3c89d 116 #endif