Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

arm.h@2:fc869e45e672, 2016-11-02 (annotated)

Committer:
ronvbree
Date:
Wed Nov 02 08:51:12 2016 +0000
Revision:
2:fc869e45e672
Parent:
0:494acf21d3bc
Child:
12:8295c02d740f
abcdg

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