OuterLoop.hpp

00001 #ifndef OUTERLOOP_HPP
00002 #define OUTERLOOP_HPP
00003  
00004 #include "mbed.h"
00005 #include "PidController.hpp"
00006 #include "PosVelFilter.hpp"
00007  
00008 // This class is an outer loop controller with its own instance of a position velocity filter.
00009  
00010 class OuterLoop {
00011 public:
00012     OuterLoop(float interval, int sensor);
00013     
00014     // functions for setting up
00015     void init();
00016     void update();
00017     void start();
00018     void stop();
00019     
00020     void runOuterLoop();
00021     
00022     // setting and getting variables
00023     void setCommand(float cmd);
00024     float getCommand();
00025     
00026     float getOutput();
00027     
00028     float getPosition();
00029     float getVelocity();
00030     
00031     void setControllerP(float P);
00032     float getControllerP();
00033     
00034     void setControllerI(float I);
00035     float getControllerI();
00036     
00037     void setControllerD(float D);
00038     float getControllerD();
00039     
00040     void setTravelLimit(float limit);
00041     float getTravelLimit();
00042     
00043     void setFilterFrequency(float frequency);
00044     float getFilterFrequency();
00045         
00046     void setDeadband(float deadband);
00047     float getDeadband();
00048     bool toggleDeadband(bool toggle);
00049     
00050     void setOutputOffset(float offset);
00051     float getOutputOffset();
00052     
00053     void setIHiLimit (float limit); // TZY, 3/1/18 Set saturation limit on controller integral
00054     void setILoLimit (float limit); // TZY, 3/1/18 Set saturation limit on controller integral
00055         
00056 protected:
00057     PosVelFilter _filter;
00058     PIDController _pid;
00059     Ticker _pulse;
00060     
00061     void refreshPVState();
00062     
00063     float _SetPoint;
00064     float _sensorVal;
00065 
00066     // position and velocity in raw units
00067     float _position;
00068     float _velocity;
00069 
00070     // setup parameters
00071     float _Pgain;
00072     float _Igain;
00073     float _Dgain;
00074     float _dt;
00075     float _filterFrequency;
00076     float _deadband;
00077     char _sensor;
00078     float _offset;
00079 };
00080  
00081 #endif