LinearActuator.hpp

00001 #ifndef LINEARACTUATOR_HPP
00002 #define LINEARACTUATOR_HPP
00003  
00004 #include "mbed.h"
00005 #include "PololuHBridge.hpp"
00006 #include "PidController.hpp"
00007 #include "ltc1298.hpp"
00008 #include "PosVelFilter.hpp"
00009  
00010 //Dependencies
00011 //This Class requires adc readings to sense the position of the piston
00012 //This is a resource that ends up being shared among other classes in the vehicle
00013 //for this reason it makes sense for it to be its own entity that is started in
00014 //the main line code
00015  
00016 class LinearActuator {
00017 public:
00018     LinearActuator(float interval, PinName pwm, PinName dir, PinName reset, PinName limit, int adc_ch);
00019     
00020     // functions for setting up
00021     void init();
00022     void update();
00023     // start and stop were removed, legacy functionality (one ticker runs clocks now)
00024     void pause();
00025     void unpause();  
00026     
00027     void runLinearActuator();       //new 03/12/2018
00028     
00029     void refreshPVState();
00030     
00031     // setting and getting variables
00032     void setPosition_mm(float dist);
00033     float getSetPosition_mm();
00034     
00035     float getPosition_mm();
00036     float getPosition_counts();
00037     float getVelocity_mms();
00038     
00039     void setControllerP(float P);
00040     float getControllerP();
00041     
00042     void setControllerI(float I);
00043     float getControllerI();
00044     
00045     void setControllerD(float D);
00046     float getControllerD();
00047     
00048     void setZeroCounts(int zero);
00049     int getZeroCounts();
00050     
00051     void setTravelLimit(float limit);
00052     float getTravelLimit();
00053     
00054     void setPotSlope(float slope);
00055     float getPotSlope();
00056     
00057     void homePiston();
00058     bool getSwitch();       //get state of limit switch
00059     
00060     float getOutput();
00061     
00062     void setFilterFrequency(float frequency);
00063     float getFilterFrequency(); // 7/11/18
00064     
00065     void setDeadband(float deadband);
00066     float getDeadband();
00067     bool toggleDeadband(bool toggle);
00068     
00069     void setPIDHighLimit(float high_limit);
00070     void setPIDLowLimit(float low_limit);
00071     
00072     bool getHardwareSwitchStatus(); //new
00073     
00074 protected:
00075     PololuHBridge _motor;
00076     PosVelFilter _filter;
00077     PIDController _pid;
00078     Ticker _pulse;
00079     InterruptIn _limitSwitch;
00080     
00081     void _switchPressed();
00082     void _switchReleased();
00083     void _calculateSensorSlope();
00084     
00085     bool _init;
00086     bool _paused;
00087     bool _limit;
00088     
00089     int _adc_channel;
00090     
00091     float _filterFrequency;
00092     
00093     float _dt;
00094     
00095     float _SetPoint_mm;
00096     
00097     // position and velocity in counts (PVF runs on counts)
00098     float _position;
00099     float _velocity;
00100 
00101     // position and velocity converted to mm and mm/s
00102     float _position_mm;
00103     float _velocity_mms;
00104     
00105     // linear actuator servo PID gains
00106     float _Pgain;
00107     float _Igain;
00108     float _Dgain;
00109     
00110     float _deadband;
00111     
00112     int _zeroCounts; //gets assigned by homing function. can also be stored in config
00113     float _extendLimit; //config variable, limits the extension of the piston, this is same as datum for normal operation,
00114     
00115     float _slope;
00116     int dist_to_counts(float dist);
00117     float counts_to_dist(int count);
00118     float counts_to_velocity(int count);
00119     
00120     float _pid_high_limit;
00121     float _pid_low_limit;
00122 };
00123 
00124 
00125 template <typename T>
00126 T clamp(T value, T min, T max)
00127 {
00128     if(value < min) {
00129         return min;
00130     } else if(value > max) {
00131         return max;
00132     } else {
00133         return value;
00134     }
00135 };
00136 
00137 #endif