ti bisogna il phaserunner
Dependencies: mbed PID mbed-rtos
Peripherien/Regler.h@9:56aed8c6779f, 2019-05-29 (annotated)
- Committer:
- EpicG10
- Date:
- Wed May 29 17:05:34 2019 +0000
- Revision:
- 9:56aed8c6779f
- Parent:
- 8:1655d27152e6
pedelec;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
EpicG10 | 7:15e6fc689368 | 1 | /** |
EpicG10 | 7:15e6fc689368 | 2 | * Steuert die 4 Phaserunner |
EpicG10 | 7:15e6fc689368 | 3 | */ |
EpicG10 | 7:15e6fc689368 | 4 | |
EpicG10 | 7:15e6fc689368 | 5 | #ifndef PA_REGLER_H |
EpicG10 | 7:15e6fc689368 | 6 | #define PA_REGLER_H |
EpicG10 | 7:15e6fc689368 | 7 | |
EpicG10 | 9:56aed8c6779f | 8 | #include "mbed.h" |
EpicG10 | 7:15e6fc689368 | 9 | #include "Phaserunner.h" |
EpicG10 | 7:15e6fc689368 | 10 | #include "Encoder.h" |
EpicG10 | 8:1655d27152e6 | 11 | #include "PID.h" |
EpicG10 | 7:15e6fc689368 | 12 | |
EpicG10 | 9:56aed8c6779f | 13 | |
EpicG10 | 9:56aed8c6779f | 14 | #define ERGO 0 |
EpicG10 | 9:56aed8c6779f | 15 | #define MOFA 1 |
EpicG10 | 9:56aed8c6779f | 16 | #define PEDELEC 2 |
EpicG10 | 9:56aed8c6779f | 17 | |
EpicG10 | 7:15e6fc689368 | 18 | class Regler{ |
EpicG10 | 7:15e6fc689368 | 19 | private: |
EpicG10 | 7:15e6fc689368 | 20 | //Alle Phaserunner |
EpicG10 | 7:15e6fc689368 | 21 | Phaserunner& vorderrad; |
EpicG10 | 7:15e6fc689368 | 22 | Phaserunner& hinterrad; |
EpicG10 | 7:15e6fc689368 | 23 | Phaserunner& linkspedal; |
EpicG10 | 7:15e6fc689368 | 24 | Phaserunner& rechtspedal; |
EpicG10 | 7:15e6fc689368 | 25 | |
EpicG10 | 9:56aed8c6779f | 26 | // Analog Outputs für Generatoren am Pedalen |
EpicG10 | 9:56aed8c6779f | 27 | AnalogOut gegenmomentLinks; |
EpicG10 | 9:56aed8c6779f | 28 | AnalogOut gegenmomentRechts; |
EpicG10 | 9:56aed8c6779f | 29 | |
EpicG10 | 8:1655d27152e6 | 30 | // PID Regler |
EpicG10 | 9:56aed8c6779f | 31 | PID& pid; |
EpicG10 | 8:1655d27152e6 | 32 | |
EpicG10 | 7:15e6fc689368 | 33 | //Encoder |
EpicG10 | 7:15e6fc689368 | 34 | Encoder& encoder; |
EpicG10 | 7:15e6fc689368 | 35 | |
EpicG10 | 7:15e6fc689368 | 36 | //Drehmomentverhältnis |
EpicG10 | 7:15e6fc689368 | 37 | uint8_t torqueRatio; |
EpicG10 | 7:15e6fc689368 | 38 | |
EpicG10 | 7:15e6fc689368 | 39 | //Verhältnis des Gegenmomentes |
EpicG10 | 7:15e6fc689368 | 40 | uint8_t recupRatio; |
EpicG10 | 7:15e6fc689368 | 41 | |
EpicG10 | 7:15e6fc689368 | 42 | //Zeitliche Berechnung der Werte |
EpicG10 | 7:15e6fc689368 | 43 | void ReglerCalculate(); |
EpicG10 | 7:15e6fc689368 | 44 | |
EpicG10 | 7:15e6fc689368 | 45 | // Ticker |
EpicG10 | 7:15e6fc689368 | 46 | Ticker ticker; |
EpicG10 | 7:15e6fc689368 | 47 | |
EpicG10 | 8:1655d27152e6 | 48 | // Ellipse Parameters |
EpicG10 | 8:1655d27152e6 | 49 | float a_,b_,beta_; |
EpicG10 | 8:1655d27152e6 | 50 | |
EpicG10 | 8:1655d27152e6 | 51 | // Regler Parameters Pedale |
EpicG10 | 8:1655d27152e6 | 52 | float Kp_,Ki_,Ts_,setPoint_; |
EpicG10 | 8:1655d27152e6 | 53 | |
EpicG10 | 9:56aed8c6779f | 54 | // Betriebsmodus (0->Ergo, 1->Mofa, 2->Pedelec) |
EpicG10 | 9:56aed8c6779f | 55 | uint8_t Modus_; |
EpicG10 | 9:56aed8c6779f | 56 | |
EpicG10 | 9:56aed8c6779f | 57 | // Ergometer Stufe "(von 1 bis 10)" |
EpicG10 | 8:1655d27152e6 | 58 | float ErgoStufe_; |
EpicG10 | 8:1655d27152e6 | 59 | |
EpicG10 | 8:1655d27152e6 | 60 | // Pedelec Values |
EpicG10 | 9:56aed8c6779f | 61 | float PedStufe_, PedFactor_; |
EpicG10 | 9:56aed8c6779f | 62 | |
EpicG10 | 9:56aed8c6779f | 63 | // AnalogOut Pins für gegenmomentsteuerung |
EpicG10 | 9:56aed8c6779f | 64 | static const PinName GEG_LINKS_PIN = PA_4; |
EpicG10 | 9:56aed8c6779f | 65 | static const PinName GEG_RECHTS_PIN = PA_5; |
EpicG10 | 8:1655d27152e6 | 66 | |
EpicG10 | 7:15e6fc689368 | 67 | const static float PI = 3.14159265; |
EpicG10 | 7:15e6fc689368 | 68 | |
EpicG10 | 7:15e6fc689368 | 69 | |
EpicG10 | 7:15e6fc689368 | 70 | public: |
EpicG10 | 7:15e6fc689368 | 71 | /** |
EpicG10 | 7:15e6fc689368 | 72 | * Erstellt einen Regler für alle Phaserunner |
EpicG10 | 7:15e6fc689368 | 73 | * @param vorderrad |
EpicG10 | 7:15e6fc689368 | 74 | * @param hinterrad |
EpicG10 | 7:15e6fc689368 | 75 | * @param linkspedal |
EpicG10 | 7:15e6fc689368 | 76 | * @param rechtspedal |
EpicG10 | 7:15e6fc689368 | 77 | * @param encoder |
EpicG10 | 7:15e6fc689368 | 78 | */ |
EpicG10 | 7:15e6fc689368 | 79 | Regler(Phaserunner& vorderrad, Phaserunner& hinterrad, Phaserunner& linkspedal, Phaserunner& rechtspedal, Encoder& encoder); |
EpicG10 | 7:15e6fc689368 | 80 | |
EpicG10 | 7:15e6fc689368 | 81 | /** |
EpicG10 | 7:15e6fc689368 | 82 | * Regelt die Phaserunner auf eine bestimmte Geschwindigkeit. |
EpicG10 | 7:15e6fc689368 | 83 | * @param speed Geschwindigkeit in km/h |
EpicG10 | 7:15e6fc689368 | 84 | */ |
EpicG10 | 7:15e6fc689368 | 85 | void setSpeed(uint8_t speed); |
EpicG10 | 7:15e6fc689368 | 86 | |
EpicG10 | 7:15e6fc689368 | 87 | /** |
EpicG10 | 7:15e6fc689368 | 88 | * Setzt das Drehmomentverhältnis zwischen Vorderrad und Hinterrad. |
EpicG10 | 7:15e6fc689368 | 89 | * @param torqueRatio: Drehmoment des Hinterrades in %. Das Drehmoment auf dem Vorderrad ist dann 100% - torqueRatio. |
EpicG10 | 7:15e6fc689368 | 90 | */ |
EpicG10 | 7:15e6fc689368 | 91 | void setTorqueProportion(uint8_t torqueRatio); |
EpicG10 | 7:15e6fc689368 | 92 | |
EpicG10 | 7:15e6fc689368 | 93 | /** |
EpicG10 | 7:15e6fc689368 | 94 | * Setzt das Verhältnis des Gegenmomentes zwischen Vorderrad und Hinterrad. |
EpicG10 | 7:15e6fc689368 | 95 | * @param torqueRatio: Gegenmoment des Hinterrades in %. Das Gegenmoment auf dem Vorderrad ist dann 100% - torqueRatio. |
EpicG10 | 7:15e6fc689368 | 96 | */ |
EpicG10 | 7:15e6fc689368 | 97 | void setRecuperationProportion(uint8_t recupRatio); |
EpicG10 | 7:15e6fc689368 | 98 | |
EpicG10 | 7:15e6fc689368 | 99 | /** |
EpicG10 | 7:15e6fc689368 | 100 | * Setzt das Drehmoment auf beide Phaserunner. |
EpicG10 | 7:15e6fc689368 | 101 | * @param torque Drehmoment in Prozent |
EpicG10 | 7:15e6fc689368 | 102 | */ |
EpicG10 | 7:15e6fc689368 | 103 | void setTorqueMotors(uint8_t torque); |
EpicG10 | 7:15e6fc689368 | 104 | |
EpicG10 | 7:15e6fc689368 | 105 | /** |
EpicG10 | 7:15e6fc689368 | 106 | * Setzt das Drehmoment auf beide Phaserunner. |
EpicG10 | 7:15e6fc689368 | 107 | * @param torque Drehmoment in Prozent |
EpicG10 | 7:15e6fc689368 | 108 | */ |
EpicG10 | 7:15e6fc689368 | 109 | void setTorquePedals(uint8_t torque); |
EpicG10 | 7:15e6fc689368 | 110 | |
EpicG10 | 7:15e6fc689368 | 111 | /** |
EpicG10 | 9:56aed8c6779f | 112 | * Setzt das Nullpunkt der Pedalen. |
EpicG10 | 9:56aed8c6779f | 113 | * |
EpicG10 | 9:56aed8c6779f | 114 | */ |
EpicG10 | 9:56aed8c6779f | 115 | void setZero(); |
EpicG10 | 9:56aed8c6779f | 116 | |
EpicG10 | 9:56aed8c6779f | 117 | /** |
EpicG10 | 7:15e6fc689368 | 118 | * Setzt die Rekuperation der Motoren |
EpicG10 | 7:15e6fc689368 | 119 | * @param recuperation |
EpicG10 | 7:15e6fc689368 | 120 | */ |
EpicG10 | 7:15e6fc689368 | 121 | void setRecuperationMotors(uint8_t recuperation); |
EpicG10 | 7:15e6fc689368 | 122 | |
EpicG10 | 7:15e6fc689368 | 123 | /** |
EpicG10 | 7:15e6fc689368 | 124 | * Setzt die Rekuperation der Pedale |
EpicG10 | 7:15e6fc689368 | 125 | * @param recuperation |
EpicG10 | 7:15e6fc689368 | 126 | */ |
EpicG10 | 7:15e6fc689368 | 127 | void setRecuperationPedals(uint8_t recuperation); |
EpicG10 | 8:1655d27152e6 | 128 | |
EpicG10 | 8:1655d27152e6 | 129 | /** |
EpicG10 | 8:1655d27152e6 | 130 | * Setzt die Ellipse Parameters |
EpicG10 | 8:1655d27152e6 | 131 | * @param a |
EpicG10 | 8:1655d27152e6 | 132 | * @param b |
EpicG10 | 8:1655d27152e6 | 133 | * @param beta |
EpicG10 | 8:1655d27152e6 | 134 | */ |
EpicG10 | 8:1655d27152e6 | 135 | void setEllipseParameters(float a, float b, float beta); |
EpicG10 | 8:1655d27152e6 | 136 | |
EpicG10 | 8:1655d27152e6 | 137 | /** |
EpicG10 | 8:1655d27152e6 | 138 | * Setzt die PI Regler Parameters |
EpicG10 | 8:1655d27152e6 | 139 | * @param Kp |
EpicG10 | 8:1655d27152e6 | 140 | * @param Ki |
EpicG10 | 8:1655d27152e6 | 141 | * @param Ts in s |
EpicG10 | 8:1655d27152e6 | 142 | */ |
EpicG10 | 8:1655d27152e6 | 143 | void setReglerParameters(float Kp, float Ki, float Ts); |
EpicG10 | 8:1655d27152e6 | 144 | |
EpicG10 | 8:1655d27152e6 | 145 | /** |
EpicG10 | 8:1655d27152e6 | 146 | * Setzt die PI Regler Setpoint |
EpicG10 | 8:1655d27152e6 | 147 | * @param SetPoint |
EpicG10 | 8:1655d27152e6 | 148 | */ |
EpicG10 | 8:1655d27152e6 | 149 | void setReglerSetPoint(float Setpoint); |
EpicG10 | 8:1655d27152e6 | 150 | |
EpicG10 | 8:1655d27152e6 | 151 | /** |
EpicG10 | 8:1655d27152e6 | 152 | * Setzt die Ergometer schwirichkeit Stufe |
EpicG10 | 8:1655d27152e6 | 153 | * @param ErgoStufe |
EpicG10 | 8:1655d27152e6 | 154 | */ |
EpicG10 | 8:1655d27152e6 | 155 | void setErgoStufe(float ErgoStufe); |
EpicG10 | 8:1655d27152e6 | 156 | |
EpicG10 | 8:1655d27152e6 | 157 | /** |
EpicG10 | 8:1655d27152e6 | 158 | * Setzt die Pedelec schwirichkeit Stufe |
EpicG10 | 8:1655d27152e6 | 159 | * @param ErgoStufe |
EpicG10 | 8:1655d27152e6 | 160 | */ |
EpicG10 | 8:1655d27152e6 | 161 | void setPedStufe(float PedStufe); |
EpicG10 | 8:1655d27152e6 | 162 | |
EpicG10 | 8:1655d27152e6 | 163 | /** |
EpicG10 | 8:1655d27152e6 | 164 | * Setzt die Pedelec Factor |
EpicG10 | 8:1655d27152e6 | 165 | * @param PedFactor |
EpicG10 | 8:1655d27152e6 | 166 | */ |
EpicG10 | 8:1655d27152e6 | 167 | void setPedFactor(float PedFactor); |
EpicG10 | 9:56aed8c6779f | 168 | |
EpicG10 | 9:56aed8c6779f | 169 | /** |
EpicG10 | 9:56aed8c6779f | 170 | * Setzt die Modus |
EpicG10 | 9:56aed8c6779f | 171 | * @param Modus |
EpicG10 | 9:56aed8c6779f | 172 | */ |
EpicG10 | 9:56aed8c6779f | 173 | void setModus(float Modus); |
EpicG10 | 7:15e6fc689368 | 174 | }; |
EpicG10 | 7:15e6fc689368 | 175 | |
EpicG10 | 7:15e6fc689368 | 176 | #endif //PA_REGLER_H |
EpicG10 | 7:15e6fc689368 | 177 |