Diff: arm.h

Revision:

2:fc869e45e672

Parent:

0:494acf21d3bc

Child:

12:8295c02d740f

--- a/arm.h	Mon Oct 31 13:05:53 2016 +0000
+++ b/arm.h	Wed Nov 02 08:51:12 2016 +0000
@@ -1,4 +1,5 @@
 #include "mbed.h"
+#include "QEI.h"
 
 /*
     Constants
@@ -7,10 +8,16 @@
 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 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
 
 /*
     Arm class
@@ -18,21 +25,39 @@
 
 class Arm {
     private:
-        // Instance Variables
-        float length;                                                                       // Current length of the arm in centimeters
-        float velocity;                                                                     // Angular velocity in rotations per second
+        // Current length of the arm in centimeters
+        volatile float length;
+        // Reference angular velocity in rad/s
+        volatile float velocity;
+        // Real velocity according to the encoder                                                     
+        volatile float encoderVelocity;
+        
+        // Motor PWM
         PwmOut motorControl;
+        // Motor direction
         DigitalOut motorDirection;
-        Ticker ticker;                                                                      // Keeps the arm's instance variables up to date
-        // Methods
+        // Motor encoder
+        QEI qei;
+        
+        // Directly instruct motor (0 <= motorValue <= 1)
         void setMotor(float motorValue);
-        void doTick();
+        // Read encoder angular velocity estimation
+        void updateEncoderVelocity();
     public:
         // Constructor
-        Arm(float initialLength, PinName motorPWM, PinName motorDir);
-        // Methods
+        Arm(float initialLength, PinName motorPWM, PinName motorDir, PinName encoderPin1, PinName encoderPin2);
+        
+        // Update instance variables
+        void update();
+        // Get current arm length
         float getLength();
+        // Get reference angular velocity
         float getVelocity();
+        // Get encoder angular velocity estimation
+        float getEncoderVelocity();
+        // Set reference velocity
         void setVelocity(float referenceVelocity);
+        // Stop moving
+        void kill();
         
 };
\ No newline at end of file