Diff: OuterLoop/OuterLoop.hpp

Revision:

10:085ab7328054

Child:

11:3b241ecb75ed

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/OuterLoop/OuterLoop.hpp	Mon Oct 23 12:50:53 2017 +0000
@@ -0,0 +1,69 @@
+#ifndef OUTERLOOP_HPP
+#define OUTERLOOP_HPP
+ 
+#include "mbed.h"
+#include "PidController.hpp"
+#include "PosVelFilter.hpp"
+ 
+// This class is an outer loop controller with its own instance of a position velocity filter.
+ 
+class OuterLoop {
+public:
+    OuterLoop(float interval, int sensor);
+    
+    // functions for setting up
+    void init();
+    void update();
+    void start();
+    void stop();
+    
+    // setting and getting variables
+    void setCommand(float cmd);
+    float getOutput();
+    
+    float getPosition();
+    float getVelocity();
+    
+    void setControllerP(float P);
+    float getControllerP();
+    
+    void setControllerI(float I);
+    float getControllerI();
+    
+    void setControllerD(float D);
+    float getControllerD();
+    
+    void setTravelLimit(float limit);
+    float getTravelLimit();
+    
+    void setFilterFrequency(float frequency);
+    float getFilterFrequency;
+        
+    void setDeadband(float deadband);
+    bool toggleDeadband(bool toggle);
+    
+protected:
+    PosVelFilter _filter;
+    PIDController _pid;
+    Ticker _pulse;
+    
+    void refreshPVState();
+    
+    float _SetPoint;
+    float _sensorVal;
+
+    // position and velocity in raw units
+    float _position;
+    float _velocity;
+
+    // setup parameters
+    float _Pgain;
+    float _Igain;
+    float _Dgain;
+    float _dt;
+    float _filterFrequency;
+    float _deadband;
+    char _sensor;
+};
+ 
+#endif
\ No newline at end of file