Controller.h

00001 #ifndef CONTROLLER_H_
00002 #define CONTROLLER_H_
00003 #include <cstdlib>
00004 #include <mbed.h>
00005 #include "EncoderCounter.h"
00006 #include "LowpassFilter.h"
00007 
00008 class Controller
00009 {
00010 
00011 public:
00012 
00013     Controller(PwmOut& pwmLeft, PwmOut& pwmRight,
00014                EncoderCounter& counterLeft, EncoderCounter& counterRight);
00015 
00016     virtual ~Controller();
00017     void setDesiredSpeedLeft(float desiredSpeedLeft);
00018     void setDesiredSpeedRight(float desiredSpeedRight);
00019     void AttachTicker(void);
00020     void DetachTicker(void);
00021     float getSpeedLeft();
00022     float getSpeedRight();
00023     float getIntegralLeft();
00024     float getIntegralRight();
00025     float getProportionalLeft();
00026     float getProportionalRight();
00027 
00028 private:
00029 
00030     static const float PERIOD;
00031     static const float COUNTS_PER_TURN;
00032     static const float LOWPASS_FILTER_FREQUENCY;
00033     static const float KN;
00034     static const float KP;
00035     static const float KI;
00036     static const float I_MAX;    
00037     static const float MAX_VOLTAGE;
00038     static const float MIN_DUTY_CYCLE;
00039     static const float MAX_DUTY_CYCLE;
00040 
00041     PwmOut&            pwmLeft;
00042     PwmOut&            pwmRight;
00043     EncoderCounter&    counterLeft;
00044     EncoderCounter&    counterRight;
00045     short              previousValueCounterLeft;
00046     short              previousValueCounterRight;
00047     LowpassFilter      speedLeftFilter;
00048     LowpassFilter      speedRightFilter;
00049     float              desiredSpeedLeft;
00050     float              desiredSpeedRight;
00051     float              actualSpeedLeft;
00052     float              actualSpeedRight;
00053     float              iSumLeft;
00054     float              iSumRight;
00055     Ticker             ticker;
00056     
00057     void               run();
00058 
00059 };
00060 
00061 #endif /* CONTROLLER_H_ */
00062 
00063 
00064 
00065 
00066 
00067 
00068