update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
OuterLoop/OuterLoop.hpp@10:085ab7328054, 2017-10-23 (annotated)
- Committer:
- danstrider
- Date:
- Mon Oct 23 12:50:53 2017 +0000
- Revision:
- 10:085ab7328054
- Child:
- 11:3b241ecb75ed
checked out on the hardware
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
danstrider | 10:085ab7328054 | 1 | #ifndef OUTERLOOP_HPP |
danstrider | 10:085ab7328054 | 2 | #define OUTERLOOP_HPP |
danstrider | 10:085ab7328054 | 3 | |
danstrider | 10:085ab7328054 | 4 | #include "mbed.h" |
danstrider | 10:085ab7328054 | 5 | #include "PidController.hpp" |
danstrider | 10:085ab7328054 | 6 | #include "PosVelFilter.hpp" |
danstrider | 10:085ab7328054 | 7 | |
danstrider | 10:085ab7328054 | 8 | // This class is an outer loop controller with its own instance of a position velocity filter. |
danstrider | 10:085ab7328054 | 9 | |
danstrider | 10:085ab7328054 | 10 | class OuterLoop { |
danstrider | 10:085ab7328054 | 11 | public: |
danstrider | 10:085ab7328054 | 12 | OuterLoop(float interval, int sensor); |
danstrider | 10:085ab7328054 | 13 | |
danstrider | 10:085ab7328054 | 14 | // functions for setting up |
danstrider | 10:085ab7328054 | 15 | void init(); |
danstrider | 10:085ab7328054 | 16 | void update(); |
danstrider | 10:085ab7328054 | 17 | void start(); |
danstrider | 10:085ab7328054 | 18 | void stop(); |
danstrider | 10:085ab7328054 | 19 | |
danstrider | 10:085ab7328054 | 20 | // setting and getting variables |
danstrider | 10:085ab7328054 | 21 | void setCommand(float cmd); |
danstrider | 10:085ab7328054 | 22 | float getOutput(); |
danstrider | 10:085ab7328054 | 23 | |
danstrider | 10:085ab7328054 | 24 | float getPosition(); |
danstrider | 10:085ab7328054 | 25 | float getVelocity(); |
danstrider | 10:085ab7328054 | 26 | |
danstrider | 10:085ab7328054 | 27 | void setControllerP(float P); |
danstrider | 10:085ab7328054 | 28 | float getControllerP(); |
danstrider | 10:085ab7328054 | 29 | |
danstrider | 10:085ab7328054 | 30 | void setControllerI(float I); |
danstrider | 10:085ab7328054 | 31 | float getControllerI(); |
danstrider | 10:085ab7328054 | 32 | |
danstrider | 10:085ab7328054 | 33 | void setControllerD(float D); |
danstrider | 10:085ab7328054 | 34 | float getControllerD(); |
danstrider | 10:085ab7328054 | 35 | |
danstrider | 10:085ab7328054 | 36 | void setTravelLimit(float limit); |
danstrider | 10:085ab7328054 | 37 | float getTravelLimit(); |
danstrider | 10:085ab7328054 | 38 | |
danstrider | 10:085ab7328054 | 39 | void setFilterFrequency(float frequency); |
danstrider | 10:085ab7328054 | 40 | float getFilterFrequency; |
danstrider | 10:085ab7328054 | 41 | |
danstrider | 10:085ab7328054 | 42 | void setDeadband(float deadband); |
danstrider | 10:085ab7328054 | 43 | bool toggleDeadband(bool toggle); |
danstrider | 10:085ab7328054 | 44 | |
danstrider | 10:085ab7328054 | 45 | protected: |
danstrider | 10:085ab7328054 | 46 | PosVelFilter _filter; |
danstrider | 10:085ab7328054 | 47 | PIDController _pid; |
danstrider | 10:085ab7328054 | 48 | Ticker _pulse; |
danstrider | 10:085ab7328054 | 49 | |
danstrider | 10:085ab7328054 | 50 | void refreshPVState(); |
danstrider | 10:085ab7328054 | 51 | |
danstrider | 10:085ab7328054 | 52 | float _SetPoint; |
danstrider | 10:085ab7328054 | 53 | float _sensorVal; |
danstrider | 10:085ab7328054 | 54 | |
danstrider | 10:085ab7328054 | 55 | // position and velocity in raw units |
danstrider | 10:085ab7328054 | 56 | float _position; |
danstrider | 10:085ab7328054 | 57 | float _velocity; |
danstrider | 10:085ab7328054 | 58 | |
danstrider | 10:085ab7328054 | 59 | // setup parameters |
danstrider | 10:085ab7328054 | 60 | float _Pgain; |
danstrider | 10:085ab7328054 | 61 | float _Igain; |
danstrider | 10:085ab7328054 | 62 | float _Dgain; |
danstrider | 10:085ab7328054 | 63 | float _dt; |
danstrider | 10:085ab7328054 | 64 | float _filterFrequency; |
danstrider | 10:085ab7328054 | 65 | float _deadband; |
danstrider | 10:085ab7328054 | 66 | char _sensor; |
danstrider | 10:085ab7328054 | 67 | }; |
danstrider | 10:085ab7328054 | 68 | |
danstrider | 10:085ab7328054 | 69 | #endif |