File content as of revision 9:d5fcdcb3c89d:

#ifndef BCE_HPP
#define BCE_HPP
 
#include "mbed.h"
#include "PololuHbridge.hpp"
#include "controller.hpp"
#include "ltc1298.hpp"
#include "PosVelFilter.hpp"
 
//Dependencies
//This Class requires adc readings to sense the position of the piston
//This is a resource that ends up being shared among other classes in the vehicle
//for this reason it makes sense for it to be its own entity that is started in
//the main line code
 
class LinearActuator
{
public:
    //BuoyancyEngine(PololuHBridge motor, SpiADC adc, PosVelFilter filter, PositionController pid);
    LinearActuator(float interval, PinName pwm, PinName dir, PinName reset, PinName limit, int adc_ch);
    
    // functions for setting up
    void init();
    void update();
    void start();
    void stop();
    void pause();
    void unpause();  
    
    void refreshPVState();
    
    // setting and getting variables
    void setPosition_mm(float dist);
    
    float getPosition_mm();
    float getPosition_counts();
    
    float getVelocity_mms();
    
    void setControllerP(float P);
    float getControllerP();
    
    void setControllerI(float I);
    float getControllerI();
    
    void setControllerD(float D);
    float getControllerD();
    
    void setZeroCounts(int zero);
    int getZeroCounts();
    
    void setTravelLimit(float limit);
    float getTravelLimit();
    
    void setPotSlope(float slope);
    float getPotSlope();
    
    void homePiston();
    void setFilterFrequency(float frequency);
    
    float getOutput();
    
    bool getSwitch();
    
    void setDeadband(float deadband);
    bool toggleDeadband(bool toggle);
    
protected:
    PololuHBridge _motor;
    PosVelFilter _filter;
    PIDController _pid;
    //Timer _time;
    Ticker _pulse;
    InterruptIn _limitSwitch;
    
    void _switchPressed();
    void _switchReleased();
    void _calculateSensorSlope();
    
    
    bool _init;
    bool _paused;
    bool _limit;
    
    int _adc_channel;
    
    float _filterFrequency;
    
    float _dt;
    
    float _SetPoint_mm;
    
    float _position;
    float _position_mm;
    
    float _velocity;
    float _velocity_mms;
    
    float _Pgain;
    float _Igain;
    float _Dgain;
    
    float _deadband;
    
    int _zeroCounts; //gets assigned by homing function. can also be stored in config
    float _extendLimit; //config variable, limits the extension of the piston, this is same as datum for normal operation,
    float _pos_vel_wn;  //config variable, natural frequecny of the position velocity filter  
    
    float _slope;
    int dist_to_counts(float dist);
    float counts_to_dist(int count);
    float counts_to_velocity(int count);
 
};
 
#endif