Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

arm.h@12:8295c02d740f, 2016-11-03 (annotated)

Committer:
ronvbree
Date:
Thu Nov 03 13:08:44 2016 +0000
Revision:
12:8295c02d740f
Parent:
2:fc869e45e672 
update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ronvbree 0:494acf21d3bc 1 #include "mbed.h"
ronvbree 2:fc869e45e672 2 #include "QEI.h"
ronvbree 0:494acf21d3bc 3
ronvbree 0:494acf21d3bc 4 /*
ronvbree 0:494acf21d3bc 5 Constants
ronvbree 0:494acf21d3bc 6 */
ronvbree 0:494acf21d3bc 7
ronvbree 12:8295c02d740f 8 const float pi = 3.14159265359f;
ronvbree 12:8295c02d740f 9
ronvbree 0:494acf21d3bc 10 const bool clockwise = true;
ronvbree 0:494acf21d3bc 11 const bool counterClockwise = false;
ronvbree 0:494acf21d3bc 12
ronvbree 2:fc869e45e672 13 const float motorGain = 8.4f; // Rad/s
ronvbree 2:fc869e45e672 14 const float maxVelocity = 8.4f; // Rad/s (max velocity: 80 rpm = 80*2*pi/60 = 8.4 rad/s)
ronvbree 12:8295c02d740f 15
ronvbree 2:fc869e45e672 16 const float tick = 0.1f; // In seconds
ronvbree 2:fc869e45e672 17 const float gearRadius = 5.2f; // In cm
ronvbree 2:fc869e45e672 18
ronvbree 2:fc869e45e672 19 const float gearRatio = 1/131.25; // Gear ratio of the motor
ronvbree 2:fc869e45e672 20 const int pulsesPerRevolution = 32; // Encoder pulses per revolution
ronvbree 2:fc869e45e672 21 const float outputShaftResolution = pulsesPerRevolution/(gearRatio * 2 * pi); // In counts per rad
ronvbree 0:494acf21d3bc 22
ronvbree 0:494acf21d3bc 23 /*
ronvbree 0:494acf21d3bc 24 Arm class
ronvbree 0:494acf21d3bc 25 */
ronvbree 0:494acf21d3bc 26
ronvbree 0:494acf21d3bc 27 class Arm {
ronvbree 0:494acf21d3bc 28 private:
ronvbree 2:fc869e45e672 29 // Current length of the arm in centimeters
ronvbree 2:fc869e45e672 30 volatile float length;
ronvbree 2:fc869e45e672 31 // Reference angular velocity in rad/s
ronvbree 2:fc869e45e672 32 volatile float velocity;
ronvbree 2:fc869e45e672 33 // Real velocity according to the encoder
ronvbree 2:fc869e45e672 34 volatile float encoderVelocity;
ronvbree 12:8295c02d740f 35 // Maximum allowed velocity in rad/s
ronvbree 12:8295c02d740f 36 float maxAllowedVelocity;
ronvbree 2:fc869e45e672 37 // Motor PWM
ronvbree 0:494acf21d3bc 38 PwmOut motorControl;
ronvbree 2:fc869e45e672 39 // Motor direction
ronvbree 0:494acf21d3bc 40 DigitalOut motorDirection;
ronvbree 2:fc869e45e672 41 // Motor encoder
ronvbree 2:fc869e45e672 42 QEI qei;
ronvbree 2:fc869e45e672 43
ronvbree 2:fc869e45e672 44 // Directly instruct motor (0 <= motorValue <= 1)
ronvbree 0:494acf21d3bc 45 void setMotor(float motorValue);
ronvbree 2:fc869e45e672 46 // Read encoder angular velocity estimation
ronvbree 2:fc869e45e672 47 void updateEncoderVelocity();
ronvbree 0:494acf21d3bc 48 public:
ronvbree 0:494acf21d3bc 49 // Constructor
ronvbree 12:8295c02d740f 50 Arm(float initialLength, float maxVelocity, PinName motorPWM, PinName motorDir, PinName encoderPin1, PinName encoderPin2);
ronvbree 2:fc869e45e672 51
ronvbree 2:fc869e45e672 52 // Update instance variables
ronvbree 2:fc869e45e672 53 void update();
ronvbree 2:fc869e45e672 54 // Get current arm length
ronvbree 0:494acf21d3bc 55 float getLength();
ronvbree 2:fc869e45e672 56 // Get reference angular velocity
ronvbree 0:494acf21d3bc 57 float getVelocity();
ronvbree 2:fc869e45e672 58 // Get encoder angular velocity estimation
ronvbree 2:fc869e45e672 59 float getEncoderVelocity();
ronvbree 2:fc869e45e672 60 // Set reference velocity
ronvbree 0:494acf21d3bc 61 void setVelocity(float referenceVelocity);
ronvbree 2:fc869e45e672 62 // Stop moving
ronvbree 2:fc869e45e672 63 void kill();
ronvbree 0:494acf21d3bc 64
ronvbree 0:494acf21d3bc 65 };