Diff: LinearActuator/LinearActuator.hpp

Revision:

62:d502889e74f1

Child:

65:2ac186553959

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LinearActuator/LinearActuator.hpp	Mon Jun 18 14:45:37 2018 +0000
@@ -0,0 +1,135 @@
+#ifndef LINEARACTUATOR_HPP
+#define LINEARACTUATOR_HPP
+ 
+#include "mbed.h"
+#include "PololuHBridge.hpp"
+#include "PidController.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:
+    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 runLinearActuator();       //new 03/12/2018
+    
+    void refreshPVState();
+    
+    // setting and getting variables
+    void setPosition_mm(float dist);
+    float getSetPosition_mm();
+    
+    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();
+    bool getSwitch();
+    
+    float getOutput();
+    
+    void setFilterFrequency(float frequency);
+    
+    void setDeadband(float deadband);
+    float getDeadband();
+    bool toggleDeadband(bool toggle);
+    
+    void setPIDHighLimit(float high_limit);
+    void setPIDLowLimit(float low_limit);
+    
+protected:
+    PololuHBridge _motor;
+    PosVelFilter _filter;
+    PIDController _pid;
+    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;
+    
+    // position and velocity in counts (PVF runs on counts)
+    float _position;
+    float _velocity;
+
+    // position and velocity converted to mm and mm/s
+    float _position_mm;
+    float _velocity_mms;
+    
+    // linear actuator servo PID gains
+    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 _slope;
+    int dist_to_counts(float dist);
+    float counts_to_dist(int count);
+    float counts_to_velocity(int count);
+    
+    float _pid_high_limit;
+    float _pid_low_limit;
+};
+
+
+template <typename T>
+T clamp(T value, T min, T max)
+{
+    if(value < min) {
+        return min;
+    } else if(value > max) {
+        return max;
+    } else {
+        return value;
+    }
+};
+
+#endif
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