TeamSurface / Libs

Nim leo niiiim

Controller.h@0:da791f233257, 2018-05-11 (annotated)

Committer:
Kiwicjam
Date:
Fri May 11 12:21:19 2018 +0000
Revision:
0:da791f233257
start of rome2 p5;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Kiwicjam 0:da791f233257 1 /*
Kiwicjam 0:da791f233257 2 * Controller.h
Kiwicjam 0:da791f233257 3 * Copyright (c) 2018, ZHAW
Kiwicjam 0:da791f233257 4 * All rights reserved.
Kiwicjam 0:da791f233257 5 */
Kiwicjam 0:da791f233257 6
Kiwicjam 0:da791f233257 7 #ifndef CONTROLLER_H_
Kiwicjam 0:da791f233257 8 #define CONTROLLER_H_
Kiwicjam 0:da791f233257 9
Kiwicjam 0:da791f233257 10 #include <cstdlib>
Kiwicjam 0:da791f233257 11 #include <mbed.h>
Kiwicjam 0:da791f233257 12 #include "EncoderCounter.h"
Kiwicjam 0:da791f233257 13 #include "Motion.h"
Kiwicjam 0:da791f233257 14 #include "LowpassFilter.h"
Kiwicjam 0:da791f233257 15
Kiwicjam 0:da791f233257 16 /**
Kiwicjam 0:da791f233257 17 * This class implements the coordinate transformation, speed control and
Kiwicjam 0:da791f233257 18 * the position estimation of a mobile robot with differential drive.
Kiwicjam 0:da791f233257 19 */
Kiwicjam 0:da791f233257 20 class Controller {
Kiwicjam 0:da791f233257 21
Kiwicjam 0:da791f233257 22 public:
Kiwicjam 0:da791f233257 23
Kiwicjam 0:da791f233257 24 Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight);
Kiwicjam 0:da791f233257 25 virtual ~Controller();
Kiwicjam 0:da791f233257 26 void setTranslationalVelocity(float velocity);
Kiwicjam 0:da791f233257 27 void setRotationalVelocity(float velocity);
Kiwicjam 0:da791f233257 28 float getActualTranslationalVelocity();
Kiwicjam 0:da791f233257 29 float getActualRotationalVelocity();
Kiwicjam 0:da791f233257 30 void setX(float x);
Kiwicjam 0:da791f233257 31 float getX();
Kiwicjam 0:da791f233257 32 void setY(float y);
Kiwicjam 0:da791f233257 33 float getY();
Kiwicjam 0:da791f233257 34 void setAlpha(float alpha);
Kiwicjam 0:da791f233257 35 float getAlpha();
Kiwicjam 0:da791f233257 36
Kiwicjam 0:da791f233257 37 private:
Kiwicjam 0:da791f233257 38
Kiwicjam 0:da791f233257 39 static const float PERIOD;
Kiwicjam 0:da791f233257 40 static const float PI;
Kiwicjam 0:da791f233257 41 static const float WHEEL_DISTANCE;
Kiwicjam 0:da791f233257 42 static const float WHEEL_RADIUS;
Kiwicjam 0:da791f233257 43 static const float COUNTS_PER_TURN;
Kiwicjam 0:da791f233257 44 static const float LOWPASS_FILTER_FREQUENCY;
Kiwicjam 0:da791f233257 45 static const float KN;
Kiwicjam 0:da791f233257 46 static const float KP;
Kiwicjam 0:da791f233257 47 static const float MAX_VOLTAGE;
Kiwicjam 0:da791f233257 48 static const float MIN_DUTY_CYCLE;
Kiwicjam 0:da791f233257 49 static const float MAX_DUTY_CYCLE;
Kiwicjam 0:da791f233257 50
Kiwicjam 0:da791f233257 51 PwmOut& pwmLeft;
Kiwicjam 0:da791f233257 52 PwmOut& pwmRight;
Kiwicjam 0:da791f233257 53 EncoderCounter& counterLeft;
Kiwicjam 0:da791f233257 54 EncoderCounter& counterRight;
Kiwicjam 0:da791f233257 55 Motion translationalMotion;
Kiwicjam 0:da791f233257 56 Motion rotationalMotion;
Kiwicjam 0:da791f233257 57 float translationalVelocity;
Kiwicjam 0:da791f233257 58 float rotationalVelocity;
Kiwicjam 0:da791f233257 59 float actualTranslationalVelocity;
Kiwicjam 0:da791f233257 60 float actualRotationalVelocity;
Kiwicjam 0:da791f233257 61 short previousValueCounterLeft;
Kiwicjam 0:da791f233257 62 short previousValueCounterRight;
Kiwicjam 0:da791f233257 63 LowpassFilter speedLeftFilter;
Kiwicjam 0:da791f233257 64 LowpassFilter speedRightFilter;
Kiwicjam 0:da791f233257 65 float desiredSpeedLeft;
Kiwicjam 0:da791f233257 66 float desiredSpeedRight;
Kiwicjam 0:da791f233257 67 float actualSpeedLeft;
Kiwicjam 0:da791f233257 68 float actualSpeedRight;
Kiwicjam 0:da791f233257 69 float x;
Kiwicjam 0:da791f233257 70 float y;
Kiwicjam 0:da791f233257 71 float alpha;
Kiwicjam 0:da791f233257 72 Ticker ticker;
Kiwicjam 0:da791f233257 73
Kiwicjam 0:da791f233257 74 void run();
Kiwicjam 0:da791f233257 75 };
Kiwicjam 0:da791f233257 76
Kiwicjam 0:da791f233257 77 #endif /* CONTROLLER_H_ */
Kiwicjam 0:da791f233257 78