Zürcher Eliteeinheit / Mbed 2 deprecated ROME2_P4

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   ROME2_P2 mbed

Fork of ROME2_P3 by Zürcher Eliteeinheit

Controller.h@4:4428ede9beee, 2018-04-12 (annotated)

Committer:
matajarb
Date:
Thu Apr 12 12:19:19 2018 +0000
Revision:
4:4428ede9beee
Parent:
1:31b1c5cefd64 
projektvorlag p3 wil de s?mme en schluch isch

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Appalco 0:e360940c4b88 1 /*
Appalco 0:e360940c4b88 2 * Controller.h
Appalco 0:e360940c4b88 3 * Copyright (c) 2018, ZHAW
Appalco 0:e360940c4b88 4 * All rights reserved.
Appalco 0:e360940c4b88 5 */
Appalco 0:e360940c4b88 6
Appalco 0:e360940c4b88 7 #ifndef CONTROLLER_H_
Appalco 0:e360940c4b88 8 #define CONTROLLER_H_
Appalco 0:e360940c4b88 9
Appalco 0:e360940c4b88 10 #include <cstdlib>
Appalco 0:e360940c4b88 11 #include <mbed.h>
Appalco 0:e360940c4b88 12 #include "EncoderCounter.h"
Appalco 0:e360940c4b88 13 #include "Motion.h"
Appalco 0:e360940c4b88 14 #include "LowpassFilter.h"
Appalco 0:e360940c4b88 15
Appalco 0:e360940c4b88 16 /**
Appalco 0:e360940c4b88 17 * This class implements the coordinate transformation, speed control and
Appalco 0:e360940c4b88 18 * the position estimation of a mobile robot with differential drive.
Appalco 0:e360940c4b88 19 */
Appalco 0:e360940c4b88 20 class Controller {
Appalco 0:e360940c4b88 21
Appalco 0:e360940c4b88 22 public:
Appalco 0:e360940c4b88 23
Appalco 0:e360940c4b88 24 Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight);
Appalco 0:e360940c4b88 25 virtual ~Controller();
Appalco 0:e360940c4b88 26 void setTranslationalVelocity(float velocity);
Appalco 0:e360940c4b88 27 void setRotationalVelocity(float velocity);
Appalco 0:e360940c4b88 28 float getActualTranslationalVelocity();
Appalco 0:e360940c4b88 29 float getActualRotationalVelocity();
matajarb 4:4428ede9beee 30 void setX(float x);
matajarb 4:4428ede9beee 31 float getX();
matajarb 4:4428ede9beee 32 void setY(float y);
matajarb 4:4428ede9beee 33 float getY();
matajarb 4:4428ede9beee 34 void setAlpha(float alpha);
matajarb 4:4428ede9beee 35 float getAlpha();
Appalco 0:e360940c4b88 36
Appalco 0:e360940c4b88 37 private:
Appalco 0:e360940c4b88 38
Appalco 0:e360940c4b88 39 static const float PERIOD;
matajarb 4:4428ede9beee 40 static const float PI;
matajarb 4:4428ede9beee 41 static const float WHEEL_DISTANCE;
matajarb 4:4428ede9beee 42 static const float WHEEL_RADIUS;
Appalco 0:e360940c4b88 43 static const float COUNTS_PER_TURN;
Appalco 0:e360940c4b88 44 static const float LOWPASS_FILTER_FREQUENCY;
Appalco 0:e360940c4b88 45 static const float KN;
Appalco 0:e360940c4b88 46 static const float KP;
Appalco 0:e360940c4b88 47 static const float MAX_VOLTAGE;
Appalco 0:e360940c4b88 48 static const float MIN_DUTY_CYCLE;
Appalco 0:e360940c4b88 49 static const float MAX_DUTY_CYCLE;
Appalco 0:e360940c4b88 50
Appalco 0:e360940c4b88 51 PwmOut& pwmLeft;
Appalco 0:e360940c4b88 52 PwmOut& pwmRight;
Appalco 0:e360940c4b88 53 EncoderCounter& counterLeft;
Appalco 0:e360940c4b88 54 EncoderCounter& counterRight;
Appalco 0:e360940c4b88 55 Motion translationalMotion;
Appalco 0:e360940c4b88 56 Motion rotationalMotion;
Appalco 0:e360940c4b88 57 float translationalVelocity;
Appalco 0:e360940c4b88 58 float rotationalVelocity;
Appalco 0:e360940c4b88 59 float actualTranslationalVelocity;
Appalco 0:e360940c4b88 60 float actualRotationalVelocity;
Appalco 0:e360940c4b88 61 short previousValueCounterLeft;
Appalco 0:e360940c4b88 62 short previousValueCounterRight;
Appalco 0:e360940c4b88 63 LowpassFilter speedLeftFilter;
Appalco 0:e360940c4b88 64 LowpassFilter speedRightFilter;
Appalco 0:e360940c4b88 65 float desiredSpeedLeft;
Appalco 0:e360940c4b88 66 float desiredSpeedRight;
Appalco 0:e360940c4b88 67 float actualSpeedLeft;
Appalco 0:e360940c4b88 68 float actualSpeedRight;
matajarb 4:4428ede9beee 69 float x;
matajarb 4:4428ede9beee 70 float y;
matajarb 4:4428ede9beee 71 float alpha;
Appalco 0:e360940c4b88 72 Ticker ticker;
Appalco 0:e360940c4b88 73
Appalco 0:e360940c4b88 74 void run();
Appalco 0:e360940c4b88 75 };
Appalco 0:e360940c4b88 76
Appalco 0:e360940c4b88 77 #endif /* CONTROLLER_H_ */
Appalco 0:e360940c4b88 78
matajarb 4:4428ede9beee 79