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Dependencies:   mbed

Controller.h@0:d8d297847268, 2020-03-25 (annotated)

Committer:
koenithi
Date:
Wed Mar 25 13:26:46 2020 +0000
Revision:
0:d8d297847268
Rome2_p3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
koenithi 0:d8d297847268 1 /*
koenithi 0:d8d297847268 2 * Controller.h
koenithi 0:d8d297847268 3 * Copyright (c) 2020, ZHAW
koenithi 0:d8d297847268 4 * All rights reserved.
koenithi 0:d8d297847268 5 */
koenithi 0:d8d297847268 6
koenithi 0:d8d297847268 7 #ifndef CONTROLLER_H_
koenithi 0:d8d297847268 8 #define CONTROLLER_H_
koenithi 0:d8d297847268 9
koenithi 0:d8d297847268 10 #include <cstdlib>
koenithi 0:d8d297847268 11 #include <mbed.h>
koenithi 0:d8d297847268 12 #include "EncoderCounter.h"
koenithi 0:d8d297847268 13 #include "Motion.h"
koenithi 0:d8d297847268 14 #include "LowpassFilter.h"
koenithi 0:d8d297847268 15
koenithi 0:d8d297847268 16 /**
koenithi 0:d8d297847268 17 * This class implements a controller that regulates the
koenithi 0:d8d297847268 18 * speed of the two motors of the ROME2 mobile robot.
koenithi 0:d8d297847268 19 */
koenithi 0:d8d297847268 20 class Controller {
koenithi 0:d8d297847268 21
koenithi 0:d8d297847268 22 public:
koenithi 0:d8d297847268 23
koenithi 0:d8d297847268 24 Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight);
koenithi 0:d8d297847268 25 virtual ~Controller();
koenithi 0:d8d297847268 26 void setTranslationalVelocity(float velocity);
koenithi 0:d8d297847268 27 void setRotationalVelocity(float velocity);
koenithi 0:d8d297847268 28 float getActualTranslationalVelocity();
koenithi 0:d8d297847268 29 float getActualRotationalVelocity();
koenithi 0:d8d297847268 30 void setDesiredSpeedLeft(float desiredSpeedLeft);
koenithi 0:d8d297847268 31 void setDesiredSpeedRight(float desiredSpeedRight);
koenithi 0:d8d297847268 32 float getActualSpeedLeft();
koenithi 0:d8d297847268 33 float getActualSpeedRight();
koenithi 0:d8d297847268 34 void setX(float x);
koenithi 0:d8d297847268 35 float getX();
koenithi 0:d8d297847268 36 void setY(float y);
koenithi 0:d8d297847268 37 float getY();
koenithi 0:d8d297847268 38 void setAlpha(float alpha);
koenithi 0:d8d297847268 39 float getAlpha();
koenithi 0:d8d297847268 40
koenithi 0:d8d297847268 41 private:
koenithi 0:d8d297847268 42
koenithi 0:d8d297847268 43 static const float PERIOD;
koenithi 0:d8d297847268 44 static const float PI;
koenithi 0:d8d297847268 45 static const float WHEEL_DISTANCE;
koenithi 0:d8d297847268 46 static const float WHEEL_RADIUS;
koenithi 0:d8d297847268 47 static const float COUNTS_PER_TURN;
koenithi 0:d8d297847268 48 static const float LOWPASS_FILTER_FREQUENCY;
koenithi 0:d8d297847268 49 static const float KN;
koenithi 0:d8d297847268 50 static const float KP;
koenithi 0:d8d297847268 51 static const float MAX_VOLTAGE;
koenithi 0:d8d297847268 52 static const float MIN_DUTY_CYCLE;
koenithi 0:d8d297847268 53 static const float MAX_DUTY_CYCLE;
koenithi 0:d8d297847268 54
koenithi 0:d8d297847268 55 PwmOut& pwmLeft;
koenithi 0:d8d297847268 56 PwmOut& pwmRight;
koenithi 0:d8d297847268 57 EncoderCounter& counterLeft;
koenithi 0:d8d297847268 58 EncoderCounter& counterRight;
koenithi 0:d8d297847268 59 Motion translationalMotion;
koenithi 0:d8d297847268 60 Motion rotationalMotion;
koenithi 0:d8d297847268 61 float translationalVelocity;
koenithi 0:d8d297847268 62 float rotationalVelocity;
koenithi 0:d8d297847268 63 float actualTranslationalVelocity;
koenithi 0:d8d297847268 64 float actualRotationalVelocity;
koenithi 0:d8d297847268 65 short previousValueCounterLeft;
koenithi 0:d8d297847268 66 short previousValueCounterRight;
koenithi 0:d8d297847268 67 LowpassFilter speedLeftFilter;
koenithi 0:d8d297847268 68 LowpassFilter speedRightFilter;
koenithi 0:d8d297847268 69 float desiredSpeedLeft;
koenithi 0:d8d297847268 70 float desiredSpeedRight;
koenithi 0:d8d297847268 71 float actualSpeedLeft;
koenithi 0:d8d297847268 72 float actualSpeedRight;
koenithi 0:d8d297847268 73 float x;
koenithi 0:d8d297847268 74 float y;
koenithi 0:d8d297847268 75 float alpha;
koenithi 0:d8d297847268 76 Ticker ticker;
koenithi 0:d8d297847268 77
koenithi 0:d8d297847268 78 void run();
koenithi 0:d8d297847268 79 };
koenithi 0:d8d297847268 80
koenithi 0:d8d297847268 81 #endif /* CONTROLLER_H_ */
koenithi 0:d8d297847268 82