Diff: Motor.cpp

Revision:

4:5370aae8ee3b

Parent:

3:9572ea41a1b4

Child:

5:71d7e9c17980

--- a/Motor.cpp	Thu May 07 09:45:03 2015 +0000
+++ b/Motor.cpp	Thu May 07 09:47:58 2015 +0000
@@ -1,31 +1,32 @@
 /* mbed simple H-bridge motor controller
- * Copyright (c) 2007-2010, sford, http://mbed.org
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
+* Copyright (c) 2007-2010, sford, http://mbed.org
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
 
 #include "Motor.h"
-
 #include "mbed.h"
 
-Motor::Motor(PinName pwm, PinName fwd, PinName rev):
-    _pwm(pwm), _fwd(fwd), _rev(rev)
+#define AUTO 1
+
+Motor::Motor(PinName pwm, PinName fwd, PinName rev) :
+_pwm(pwm), _fwd(fwd), _rev(rev), speedControl(K, Ti, Td, itv), encoder(CH_A, CH_B, NC, pPerRev)
 {
 
     // Set initial condition of PWM
@@ -35,20 +36,31 @@
     // Initial condition of output enables
     _fwd = 0;
     _rev = 0;
+
+    //PID config
+    speedControl.setInputLimits(0, 1);
+    speedControl.setOutputLimits(0, 1);
+    speedControl.setMode(AUTO); 
+
 }
 
-void Motor::speed(float speed)
-{
-    /*if(speed>0) {
-        _fwd = 1;
-        _rev = 0;
+void Motor::speed(float speed) {
+
+    if (speed != set_speed){
+        speedControl.setSetPoint(speed);
+        set_speed = speed;
     }
-    if(speed<0) {
-        _fwd = 0;
-        _rev = 1;
-    }*/
-    _fwd = 0;
-    _rev = 1;
+
+    pulses = encoder.getPulses();
+    curr_speed = (pulses-prev_pulses) / max_pulse_rate;
+    prev_pulses = pulses;
+
+    speedControl.setProcessValue(curr_speed);
+    speed = speedControl.compute();
+
+
+    _fwd = (speed > 0.0);
+    _rev = (speed < 0.0);
     _pwm = abs(speed);
 }