altb_pmic / Mbed OS cuboid_balance_ros

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Dependencies:   Library_Cntrl Library_Misc_cuboid

Fork of cuboid_balance_ros by Ruprecht Altenburger

update_loop.h@2:9b068d2a7994, 2019-11-22 (annotated)

Committer:
altb2
Date:
Fri Nov 22 16:46:16 2019 +0000
Revision:
2:9b068d2a7994
Parent:
0:acf871f26563 
updated ros version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 0:acf871f26563 1 #include "PI_Cntrl.h"
altb2 0:acf871f26563 2 #include "mbed.h"
altb2 0:acf871f26563 3 #include "Signal.h"
altb2 0:acf871f26563 4 #include "EncoderCounter.h"
altb2 0:acf871f26563 5 #include "DiffCounter.h"
altb2 0:acf871f26563 6 #include "angle_estimator.h"
altb2 0:acf871f26563 7
altb2 0:acf871f26563 8
altb2 0:acf871f26563 9 // define STATES:
altb2 0:acf871f26563 10 #define INIT 0 // at very beginning
altb2 0:acf871f26563 11 #define FLAT 10 // cuboid is flat, motor is controlled to zero
altb2 0:acf871f26563 12 #define BALANCE 20 // balancing
altb2 0:acf871f26563 13 #define SWING_DOWN 30 // move cuboid down
altb2 0:acf871f26563 14
altb2 0:acf871f26563 15
altb2 0:acf871f26563 16
altb2 0:acf871f26563 17
altb2 0:acf871f26563 18 class update_loop
altb2 0:acf871f26563 19 {
altb2 0:acf871f26563 20 public:
altb2 0:acf871f26563 21
altb2 0:acf871f26563 22 update_loop(float Ts, PinName);
altb2 0:acf871f26563 23 virtual ~update_loop();
altb2 0:acf871f26563 24 InterruptIn button;
altb2 0:acf871f26563 25
altb2 0:acf871f26563 26 private:
altb2 0:acf871f26563 27 void loop(void);
altb2 0:acf871f26563 28 Signal signal;
altb2 0:acf871f26563 29 Thread thread;
altb2 0:acf871f26563 30 Ticker ticker;
altb2 0:acf871f26563 31 Mutex mutex; // mutex to lock critical sections
altb2 0:acf871f26563 32 double Ts;
altb2 0:acf871f26563 33 bool key_was_pressed;
altb2 0:acf871f26563 34 Timer ti;
altb2 0:acf871f26563 35 Timer t_but; // define button time //
altb2 0:acf871f26563 36 PI_Cntrl vel_cntrl; // velocity controller for motor
altb2 0:acf871f26563 37 PI_Cntrl om2zero; // slow vel. contrl. to bring motor to zero
altb2 0:acf871f26563 38 Serial pc;
altb2 0:acf871f26563 39 void sendSignal();
altb2 0:acf871f26563 40 void pressed(void); // user Button pressed
altb2 0:acf871f26563 41 void released(void); // user Button released
altb2 0:acf871f26563 42 float cuboid_stab_cntrl(int);
altb2 0:acf871f26563 43 float vel;
altb2 0:acf871f26563 44 int CS;
altb2 0:acf871f26563 45 int kk;
altb2 0:acf871f26563 46 EncoderCounter counter1; //
altb2 0:acf871f26563 47 DiffCounter diff; // discrete differentiate, based on encoder data
altb2 0:acf871f26563 48 float phi1_des;
altb2 0:acf871f26563 49 angle_estimator AE;
altb2 0:acf871f26563 50 AnalogOut out;
altb2 0:acf871f26563 51 LinearCharacteristics i2u; // output is normalized output
altb2 0:acf871f26563 52 };