Diff: arm.h

Revision:

12:8295c02d740f

Parent:

2:fc869e45e672

--- a/arm.h	Wed Nov 02 16:29:13 2016 +0000
+++ b/arm.h	Thu Nov 03 13:08:44 2016 +0000
@@ -5,16 +5,17 @@
     Constants
 */
 
+const float pi = 3.14159265359f;
+
 const bool clockwise = true;
 const bool counterClockwise = false;
 
 const float motorGain = 8.4f;                                                           // Rad/s
 const float maxVelocity = 8.4f;                                                         // Rad/s (max velocity: 80 rpm = 80*2*pi/60 = 8.4 rad/s)
+
 const float tick = 0.1f;                                                                // In seconds
 const float gearRadius = 5.2f;                                                          // In cm
 
-const float pi = 3.14159265359f;
-
 const float gearRatio = 1/131.25;                                                       // Gear ratio of the motor
 const int pulsesPerRevolution = 32;                                                     // Encoder pulses per revolution
 const float outputShaftResolution = pulsesPerRevolution/(gearRatio * 2 * pi);           // In counts per rad
@@ -31,7 +32,8 @@
         volatile float velocity;
         // Real velocity according to the encoder                                                     
         volatile float encoderVelocity;
-        
+        // Maximum allowed velocity in rad/s
+        float maxAllowedVelocity;
         // Motor PWM
         PwmOut motorControl;
         // Motor direction
@@ -45,7 +47,7 @@
         void updateEncoderVelocity();
     public:
         // Constructor
-        Arm(float initialLength, PinName motorPWM, PinName motorDir, PinName encoderPin1, PinName encoderPin2);
+        Arm(float initialLength, float maxVelocity, PinName motorPWM, PinName motorDir, PinName encoderPin1, PinName encoderPin2);
         
         // Update instance variables
         void update();