Beste Version
Dependencies: mbed
Fork of Roboshark_V8 by
Controller.h@13:1687f97d4d82, 2018-05-09 (annotated)
- Committer:
- ahlervin
- Date:
- Wed May 09 17:08:24 2018 +0000
- Revision:
- 13:1687f97d4d82
- Parent:
- 10:fb2195d0de0f
Optimaler Regler und Schnellster Speed
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Jacqueline | 0:6d0671ae4648 | 1 | #ifndef CONTROLLER_H_ |
Jacqueline | 0:6d0671ae4648 | 2 | #define CONTROLLER_H_ |
Jacqueline | 0:6d0671ae4648 | 3 | #include <cstdlib> |
Jacqueline | 0:6d0671ae4648 | 4 | #include <mbed.h> |
Jacqueline | 0:6d0671ae4648 | 5 | #include "EncoderCounter.h" |
Jacqueline | 0:6d0671ae4648 | 6 | #include "LowpassFilter.h" |
Jacqueline | 0:6d0671ae4648 | 7 | |
Jacqueline | 0:6d0671ae4648 | 8 | class Controller |
Jacqueline | 0:6d0671ae4648 | 9 | { |
Jacqueline | 0:6d0671ae4648 | 10 | |
Jacqueline | 0:6d0671ae4648 | 11 | public: |
Jacqueline | 0:6d0671ae4648 | 12 | |
Jacqueline | 0:6d0671ae4648 | 13 | Controller(PwmOut& pwmLeft, PwmOut& pwmRight, |
Jacqueline | 0:6d0671ae4648 | 14 | EncoderCounter& counterLeft, EncoderCounter& counterRight); |
Jacqueline | 0:6d0671ae4648 | 15 | |
Jacqueline | 0:6d0671ae4648 | 16 | virtual ~Controller(); |
Jacqueline | 0:6d0671ae4648 | 17 | void setDesiredSpeedLeft(float desiredSpeedLeft); |
Jacqueline | 0:6d0671ae4648 | 18 | void setDesiredSpeedRight(float desiredSpeedRight); |
Jacqueline | 0:6d0671ae4648 | 19 | float getSpeedLeft(); |
Jacqueline | 0:6d0671ae4648 | 20 | float getSpeedRight(); |
Jacqueline | 0:6d0671ae4648 | 21 | float getIntegralLeft(); |
Jacqueline | 0:6d0671ae4648 | 22 | float getIntegralRight(); |
Jacqueline | 0:6d0671ae4648 | 23 | float getProportionalLeft(); |
Jacqueline | 0:6d0671ae4648 | 24 | float getProportionalRight(); |
ahlervin | 10:fb2195d0de0f | 25 | void resetEncoder(); |
Jacqueline | 0:6d0671ae4648 | 26 | |
Jacqueline | 0:6d0671ae4648 | 27 | private: |
Jacqueline | 0:6d0671ae4648 | 28 | |
Jacqueline | 0:6d0671ae4648 | 29 | static const float PERIOD; |
Jacqueline | 0:6d0671ae4648 | 30 | static const float COUNTS_PER_TURN; |
Jacqueline | 0:6d0671ae4648 | 31 | static const float LOWPASS_FILTER_FREQUENCY; |
Jacqueline | 0:6d0671ae4648 | 32 | static const float KN; |
Jacqueline | 0:6d0671ae4648 | 33 | static const float KP; |
Jacqueline | 0:6d0671ae4648 | 34 | static const float KI; |
Jacqueline | 0:6d0671ae4648 | 35 | static const float I_MAX; |
Jacqueline | 0:6d0671ae4648 | 36 | static const float MAX_VOLTAGE; |
Jacqueline | 0:6d0671ae4648 | 37 | static const float MIN_DUTY_CYCLE; |
Jacqueline | 0:6d0671ae4648 | 38 | static const float MAX_DUTY_CYCLE; |
Jacqueline | 0:6d0671ae4648 | 39 | |
Jacqueline | 0:6d0671ae4648 | 40 | PwmOut& pwmLeft; |
Jacqueline | 0:6d0671ae4648 | 41 | PwmOut& pwmRight; |
Jacqueline | 0:6d0671ae4648 | 42 | EncoderCounter& counterLeft; |
Jacqueline | 0:6d0671ae4648 | 43 | EncoderCounter& counterRight; |
Jacqueline | 0:6d0671ae4648 | 44 | short previousValueCounterLeft; |
Jacqueline | 0:6d0671ae4648 | 45 | short previousValueCounterRight; |
Jacqueline | 0:6d0671ae4648 | 46 | LowpassFilter speedLeftFilter; |
Jacqueline | 0:6d0671ae4648 | 47 | LowpassFilter speedRightFilter; |
Jacqueline | 0:6d0671ae4648 | 48 | float desiredSpeedLeft; |
Jacqueline | 0:6d0671ae4648 | 49 | float desiredSpeedRight; |
Jacqueline | 0:6d0671ae4648 | 50 | float actualSpeedLeft; |
Jacqueline | 0:6d0671ae4648 | 51 | float actualSpeedRight; |
Jacqueline | 0:6d0671ae4648 | 52 | float iSumLeft; |
Jacqueline | 0:6d0671ae4648 | 53 | float iSumRight; |
Jacqueline | 0:6d0671ae4648 | 54 | Ticker ticker; |
Jacqueline | 0:6d0671ae4648 | 55 | |
Jacqueline | 0:6d0671ae4648 | 56 | void run(); |
Jacqueline | 0:6d0671ae4648 | 57 | |
ahlervin | 10:fb2195d0de0f | 58 | |
Jacqueline | 0:6d0671ae4648 | 59 | }; |
Jacqueline | 0:6d0671ae4648 | 60 | |
Jacqueline | 0:6d0671ae4648 | 61 | #endif /* CONTROLLER_H_ */ |
Jacqueline | 0:6d0671ae4648 | 62 | |
Jacqueline | 0:6d0671ae4648 | 63 | |
Jacqueline | 0:6d0671ae4648 | 64 | |
Jacqueline | 0:6d0671ae4648 | 65 | |
Jacqueline | 0:6d0671ae4648 | 66 | |
Jacqueline | 0:6d0671ae4648 | 67 | |
Jacqueline | 0:6d0671ae4648 | 68 |