PES2_R2D2.0 / Mbed 2 deprecated MicroMouse_MASTER_FOUR

Pathfinding nach rechts funktioniert noch nicht...der rest schon

Dependencies:   mbed

Fork of MicroMouse_MASTER_THREE by PES2_R2D2.0

Controller.h@0:a9fe4ef404bf, 2018-03-07 (annotated)

Committer:
ruesipat
Date:
Wed Mar 07 14:06:19 2018 +0000
Revision:
0:a9fe4ef404bf
Child:
1:d9e840c48b1e
hallo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ruesipat 0:a9fe4ef404bf 1 #ifndef CONTROLLER_H_
ruesipat 0:a9fe4ef404bf 2 #define CONTROLLER_H_
ruesipat 0:a9fe4ef404bf 3 #include <cstdlib>
ruesipat 0:a9fe4ef404bf 4 #include <mbed.h>
ruesipat 0:a9fe4ef404bf 5 #include "EncoderCounter.h"
ruesipat 0:a9fe4ef404bf 6 #include "LowpassFilter.h"
ruesipat 0:a9fe4ef404bf 7
ruesipat 0:a9fe4ef404bf 8 class Controller
ruesipat 0:a9fe4ef404bf 9 {
ruesipat 0:a9fe4ef404bf 10
ruesipat 0:a9fe4ef404bf 11 public:
ruesipat 0:a9fe4ef404bf 12
ruesipat 0:a9fe4ef404bf 13 Controller(PwmOut& pwmLeft, PwmOut& pwmRight,
ruesipat 0:a9fe4ef404bf 14 EncoderCounter& counterLeft, EncoderCounter& counterRight);
ruesipat 0:a9fe4ef404bf 15
ruesipat 0:a9fe4ef404bf 16 virtual ~Controller();
ruesipat 0:a9fe4ef404bf 17 void setDesiredSpeedLeft(float desiredSpeedLeft);
ruesipat 0:a9fe4ef404bf 18 void setDesiredSpeedRight(float desiredSpeedRight);
ruesipat 0:a9fe4ef404bf 19
ruesipat 0:a9fe4ef404bf 20 private:
ruesipat 0:a9fe4ef404bf 21
ruesipat 0:a9fe4ef404bf 22 static const float PERIOD;
ruesipat 0:a9fe4ef404bf 23 static const float COUNTS_PER_TURN;
ruesipat 0:a9fe4ef404bf 24 static const float LOWPASS_FILTER_FREQUENCY;
ruesipat 0:a9fe4ef404bf 25 static const float KN;
ruesipat 0:a9fe4ef404bf 26 static const float KP;
ruesipat 0:a9fe4ef404bf 27 static const float MAX_VOLTAGE;
ruesipat 0:a9fe4ef404bf 28 static const float MIN_DUTY_CYCLE;
ruesipat 0:a9fe4ef404bf 29 static const float MAX_DUTY_CYCLE;
ruesipat 0:a9fe4ef404bf 30
ruesipat 0:a9fe4ef404bf 31 PwmOut& pwmLeft;
ruesipat 0:a9fe4ef404bf 32 PwmOut& pwmRight;
ruesipat 0:a9fe4ef404bf 33 EncoderCounter& counterLeft;
ruesipat 0:a9fe4ef404bf 34 EncoderCounter& counterRight;
ruesipat 0:a9fe4ef404bf 35 short previousValueCounterLeft;
ruesipat 0:a9fe4ef404bf 36 short previousValueCounterRight;
ruesipat 0:a9fe4ef404bf 37 LowpassFilter speedLeftFilter;
ruesipat 0:a9fe4ef404bf 38 LowpassFilter speedRightFilter;
ruesipat 0:a9fe4ef404bf 39 float desiredSpeedLeft;
ruesipat 0:a9fe4ef404bf 40 float desiredSpeedRight;
ruesipat 0:a9fe4ef404bf 41 float actualSpeedLeft;
ruesipat 0:a9fe4ef404bf 42 float actualSpeedRight;
ruesipat 0:a9fe4ef404bf 43 Ticker ticker;
ruesipat 0:a9fe4ef404bf 44
ruesipat 0:a9fe4ef404bf 45 void run();
ruesipat 0:a9fe4ef404bf 46
ruesipat 0:a9fe4ef404bf 47 };
ruesipat 0:a9fe4ef404bf 48
ruesipat 0:a9fe4ef404bf 49 #endif /* CONTROLLER_H_ */
ruesipat 0:a9fe4ef404bf 50
ruesipat 0:a9fe4ef404bf 51
ruesipat 0:a9fe4ef404bf 52
ruesipat 0:a9fe4ef404bf 53
ruesipat 0:a9fe4ef404bf 54