Controller.h

00001 /*
00002  * Controller.h
00003  * Copyright (c) 2020, ZHAW
00004  * All rights reserved.
00005  */
00006 
00007 #ifndef CONTROLLER_H_
00008 #define CONTROLLER_H_
00009 
00010 #include <cstdlib>
00011 #include <mbed.h>
00012 #include "EncoderCounter.h"
00013 #include "Motion.h"
00014 #include "LowpassFilter.h"
00015 
00016 /**
00017  * This class implements a controller that regulates the
00018  * speed of the two motors of the ROME2 mobile robot.
00019  */
00020 class Controller {
00021     
00022     public:
00023         
00024                 Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight);
00025         virtual ~Controller();
00026         void    setTranslationalVelocity(float velocity);
00027         void    setRotationalVelocity(float velocity);
00028         float   getActualTranslationalVelocity();
00029         float   getActualRotationalVelocity();
00030         void    setDesiredSpeedLeft(float desiredSpeedLeft);
00031         void    setDesiredSpeedRight(float desiredSpeedRight);
00032         float   getActualSpeedLeft();
00033         float   getActualSpeedRight();
00034         void    setX(float x);
00035         float   getX();
00036         void    setY(float y);
00037         float   getY();
00038         void    setAlpha(float alpha);
00039         float   getAlpha();
00040         
00041   private:
00042         
00043         static const float  PERIOD;
00044         static const float  PI;
00045         static const float  WHEEL_DISTANCE;
00046         static const float  WHEEL_RADIUS;
00047         static const float  COUNTS_PER_TURN;
00048         static const float  LOWPASS_FILTER_FREQUENCY;
00049         static const float  KN;
00050         static const float  KP;
00051         static const float  MAX_VOLTAGE;
00052         static const float  MIN_DUTY_CYCLE;
00053         static const float  MAX_DUTY_CYCLE;
00054 
00055         PwmOut&             pwmLeft;
00056         PwmOut&             pwmRight;
00057         EncoderCounter&     counterLeft;
00058         EncoderCounter&     counterRight;
00059         Motion              translationalMotion;
00060         Motion              rotationalMotion;
00061         float               translationalVelocity;
00062         float               rotationalVelocity;
00063         float               actualTranslationalVelocity;
00064         float               actualRotationalVelocity;
00065         short               previousValueCounterLeft;
00066         short               previousValueCounterRight;
00067         LowpassFilter       speedLeftFilter;
00068         LowpassFilter       speedRightFilter;
00069         float               desiredSpeedLeft;
00070         float               desiredSpeedRight;
00071         float               actualSpeedLeft;
00072         float               actualSpeedRight;
00073         float               x;
00074         float               y;
00075         float               alpha;
00076         Ticker              ticker;
00077         
00078         void    run();
00079 };
00080 
00081 #endif /* CONTROLLER_H_ */
00082