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@92:52a91656458a, 2019-05-13 (annotated)

Committer:
joel_ssc
Date:
Mon May 13 19:25:26 2019 +0000
Revision:
92:52a91656458a
Parent:
74:d281aaef9766 
version for first flight test, timeouts not yet set correctly

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tnhnrl 62:d502889e74f1 1 #ifndef LINEARACTUATOR_HPP
tnhnrl 62:d502889e74f1 2 #define LINEARACTUATOR_HPP
tnhnrl 62:d502889e74f1 3
tnhnrl 62:d502889e74f1 4 #include "mbed.h"
tnhnrl 62:d502889e74f1 5 #include "PololuHBridge.hpp"
tnhnrl 62:d502889e74f1 6 #include "PidController.hpp"
tnhnrl 62:d502889e74f1 7 #include "ltc1298.hpp"
tnhnrl 62:d502889e74f1 8 #include "PosVelFilter.hpp"
tnhnrl 62:d502889e74f1 9
tnhnrl 62:d502889e74f1 10 //Dependencies
tnhnrl 62:d502889e74f1 11 //This Class requires adc readings to sense the position of the piston
tnhnrl 62:d502889e74f1 12 //This is a resource that ends up being shared among other classes in the vehicle
tnhnrl 62:d502889e74f1 13 //for this reason it makes sense for it to be its own entity that is started in
tnhnrl 62:d502889e74f1 14 //the main line code
tnhnrl 62:d502889e74f1 15
tnhnrl 62:d502889e74f1 16 class LinearActuator {
tnhnrl 62:d502889e74f1 17 public:
tnhnrl 62:d502889e74f1 18 LinearActuator(float interval, PinName pwm, PinName dir, PinName reset, PinName limit, int adc_ch);
tnhnrl 62:d502889e74f1 19
tnhnrl 62:d502889e74f1 20 // functions for setting up
tnhnrl 62:d502889e74f1 21 void init();
tnhnrl 62:d502889e74f1 22 void update();
tnhnrl 74:d281aaef9766 23 // start and stop were removed, legacy functionality (one ticker runs clocks now)
tnhnrl 62:d502889e74f1 24 void pause();
tnhnrl 62:d502889e74f1 25 void unpause();
tnhnrl 62:d502889e74f1 26
tnhnrl 62:d502889e74f1 27 void runLinearActuator(); //new 03/12/2018
tnhnrl 62:d502889e74f1 28
tnhnrl 62:d502889e74f1 29 void refreshPVState();
tnhnrl 62:d502889e74f1 30
tnhnrl 62:d502889e74f1 31 // setting and getting variables
tnhnrl 62:d502889e74f1 32 void setPosition_mm(float dist);
tnhnrl 62:d502889e74f1 33 float getSetPosition_mm();
tnhnrl 62:d502889e74f1 34
tnhnrl 62:d502889e74f1 35 float getPosition_mm();
tnhnrl 62:d502889e74f1 36 float getPosition_counts();
tnhnrl 62:d502889e74f1 37 float getVelocity_mms();
tnhnrl 62:d502889e74f1 38
tnhnrl 62:d502889e74f1 39 void setControllerP(float P);
tnhnrl 62:d502889e74f1 40 float getControllerP();
tnhnrl 62:d502889e74f1 41
tnhnrl 62:d502889e74f1 42 void setControllerI(float I);
tnhnrl 62:d502889e74f1 43 float getControllerI();
tnhnrl 62:d502889e74f1 44
tnhnrl 62:d502889e74f1 45 void setControllerD(float D);
tnhnrl 62:d502889e74f1 46 float getControllerD();
tnhnrl 62:d502889e74f1 47
tnhnrl 62:d502889e74f1 48 void setZeroCounts(int zero);
tnhnrl 62:d502889e74f1 49 int getZeroCounts();
tnhnrl 62:d502889e74f1 50
tnhnrl 62:d502889e74f1 51 void setTravelLimit(float limit);
tnhnrl 62:d502889e74f1 52 float getTravelLimit();
tnhnrl 62:d502889e74f1 53
tnhnrl 62:d502889e74f1 54 void setPotSlope(float slope);
tnhnrl 62:d502889e74f1 55 float getPotSlope();
tnhnrl 62:d502889e74f1 56
tnhnrl 62:d502889e74f1 57 void homePiston();
tnhnrl 74:d281aaef9766 58 bool getSwitch(); //get state of limit switch
tnhnrl 62:d502889e74f1 59
tnhnrl 62:d502889e74f1 60 float getOutput();
tnhnrl 62:d502889e74f1 61
tnhnrl 62:d502889e74f1 62 void setFilterFrequency(float frequency);
tnhnrl 73:f6f378311c8d 63 float getFilterFrequency(); // 7/11/18
tnhnrl 62:d502889e74f1 64
tnhnrl 62:d502889e74f1 65 void setDeadband(float deadband);
tnhnrl 62:d502889e74f1 66 float getDeadband();
tnhnrl 62:d502889e74f1 67 bool toggleDeadband(bool toggle);
tnhnrl 62:d502889e74f1 68
tnhnrl 62:d502889e74f1 69 void setPIDHighLimit(float high_limit);
tnhnrl 62:d502889e74f1 70 void setPIDLowLimit(float low_limit);
tnhnrl 62:d502889e74f1 71
tnhnrl 65:2ac186553959 72 bool getHardwareSwitchStatus(); //new
tnhnrl 65:2ac186553959 73
tnhnrl 62:d502889e74f1 74 protected:
tnhnrl 62:d502889e74f1 75 PololuHBridge _motor;
tnhnrl 62:d502889e74f1 76 PosVelFilter _filter;
tnhnrl 62:d502889e74f1 77 PIDController _pid;
tnhnrl 62:d502889e74f1 78 Ticker _pulse;
tnhnrl 62:d502889e74f1 79 InterruptIn _limitSwitch;
tnhnrl 62:d502889e74f1 80
tnhnrl 62:d502889e74f1 81 void _switchPressed();
tnhnrl 62:d502889e74f1 82 void _switchReleased();
tnhnrl 62:d502889e74f1 83 void _calculateSensorSlope();
tnhnrl 62:d502889e74f1 84
tnhnrl 62:d502889e74f1 85 bool _init;
tnhnrl 62:d502889e74f1 86 bool _paused;
tnhnrl 62:d502889e74f1 87 bool _limit;
tnhnrl 62:d502889e74f1 88
tnhnrl 62:d502889e74f1 89 int _adc_channel;
tnhnrl 62:d502889e74f1 90
tnhnrl 62:d502889e74f1 91 float _filterFrequency;
tnhnrl 62:d502889e74f1 92
tnhnrl 62:d502889e74f1 93 float _dt;
tnhnrl 62:d502889e74f1 94
tnhnrl 62:d502889e74f1 95 float _SetPoint_mm;
tnhnrl 62:d502889e74f1 96
tnhnrl 62:d502889e74f1 97 // position and velocity in counts (PVF runs on counts)
tnhnrl 62:d502889e74f1 98 float _position;
tnhnrl 62:d502889e74f1 99 float _velocity;
tnhnrl 62:d502889e74f1 100
tnhnrl 62:d502889e74f1 101 // position and velocity converted to mm and mm/s
tnhnrl 62:d502889e74f1 102 float _position_mm;
tnhnrl 62:d502889e74f1 103 float _velocity_mms;
tnhnrl 62:d502889e74f1 104
tnhnrl 62:d502889e74f1 105 // linear actuator servo PID gains
tnhnrl 62:d502889e74f1 106 float _Pgain;
tnhnrl 62:d502889e74f1 107 float _Igain;
tnhnrl 62:d502889e74f1 108 float _Dgain;
tnhnrl 62:d502889e74f1 109
tnhnrl 62:d502889e74f1 110 float _deadband;
tnhnrl 62:d502889e74f1 111
tnhnrl 62:d502889e74f1 112 int _zeroCounts; //gets assigned by homing function. can also be stored in config
tnhnrl 62:d502889e74f1 113 float _extendLimit; //config variable, limits the extension of the piston, this is same as datum for normal operation,
tnhnrl 62:d502889e74f1 114
tnhnrl 62:d502889e74f1 115 float _slope;
tnhnrl 62:d502889e74f1 116 int dist_to_counts(float dist);
tnhnrl 62:d502889e74f1 117 float counts_to_dist(int count);
tnhnrl 62:d502889e74f1 118 float counts_to_velocity(int count);
tnhnrl 62:d502889e74f1 119
tnhnrl 62:d502889e74f1 120 float _pid_high_limit;
tnhnrl 62:d502889e74f1 121 float _pid_low_limit;
tnhnrl 62:d502889e74f1 122 };
tnhnrl 62:d502889e74f1 123
tnhnrl 62:d502889e74f1 124
tnhnrl 62:d502889e74f1 125 template <typename T>
tnhnrl 62:d502889e74f1 126 T clamp(T value, T min, T max)
tnhnrl 62:d502889e74f1 127 {
tnhnrl 62:d502889e74f1 128 if(value < min) {
tnhnrl 62:d502889e74f1 129 return min;
tnhnrl 62:d502889e74f1 130 } else if(value > max) {
tnhnrl 62:d502889e74f1 131 return max;
tnhnrl 62:d502889e74f1 132 } else {
tnhnrl 62:d502889e74f1 133 return value;
tnhnrl 62:d502889e74f1 134 }
tnhnrl 62:d502889e74f1 135 };
tnhnrl 62:d502889e74f1 136
tnhnrl 62:d502889e74f1 137 #endif