Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

arm.h@0:494acf21d3bc, 2016-10-31 (annotated)

Committer:
ronvbree
Date:
Mon Oct 31 13:05:53 2016 +0000
Revision:
0:494acf21d3bc
Child:
2:fc869e45e672
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ronvbree 0:494acf21d3bc 1 #include "mbed.h"
ronvbree 0:494acf21d3bc 2
ronvbree 0:494acf21d3bc 3 /*
ronvbree 0:494acf21d3bc 4 Constants
ronvbree 0:494acf21d3bc 5 */
ronvbree 0:494acf21d3bc 6
ronvbree 0:494acf21d3bc 7 const bool clockwise = true;
ronvbree 0:494acf21d3bc 8 const bool counterClockwise = false;
ronvbree 0:494acf21d3bc 9
ronvbree 0:494acf21d3bc 10 const float motorGain = 8.4f; // Rad/s
ronvbree 0:494acf21d3bc 11 const float maxVelocity = 8.4f; // Rad/s (max velocity: 80 rpm = 80*2*pi/60 = 8.4 rad/s)
ronvbree 0:494acf21d3bc 12 const float tick = 0.1f; // In seconds
ronvbree 0:494acf21d3bc 13 const float gearRadius = 5.2f; // In cm
ronvbree 0:494acf21d3bc 14
ronvbree 0:494acf21d3bc 15 /*
ronvbree 0:494acf21d3bc 16 Arm class
ronvbree 0:494acf21d3bc 17 */
ronvbree 0:494acf21d3bc 18
ronvbree 0:494acf21d3bc 19 class Arm {
ronvbree 0:494acf21d3bc 20 private:
ronvbree 0:494acf21d3bc 21 // Instance Variables
ronvbree 0:494acf21d3bc 22 float length; // Current length of the arm in centimeters
ronvbree 0:494acf21d3bc 23 float velocity; // Angular velocity in rotations per second
ronvbree 0:494acf21d3bc 24 PwmOut motorControl;
ronvbree 0:494acf21d3bc 25 DigitalOut motorDirection;
ronvbree 0:494acf21d3bc 26 Ticker ticker; // Keeps the arm's instance variables up to date
ronvbree 0:494acf21d3bc 27 // Methods
ronvbree 0:494acf21d3bc 28 void setMotor(float motorValue);
ronvbree 0:494acf21d3bc 29 void doTick();
ronvbree 0:494acf21d3bc 30 public:
ronvbree 0:494acf21d3bc 31 // Constructor
ronvbree 0:494acf21d3bc 32 Arm(float initialLength, PinName motorPWM, PinName motorDir);
ronvbree 0:494acf21d3bc 33 // Methods
ronvbree 0:494acf21d3bc 34 float getLength();
ronvbree 0:494acf21d3bc 35 float getVelocity();
ronvbree 0:494acf21d3bc 36 void setVelocity(float referenceVelocity);
ronvbree 0:494acf21d3bc 37
ronvbree 0:494acf21d3bc 38 };