unit test for brushless motors using a potentiometer and a castle creations esc with 0.5 center duty cycle
Fork of brushlessmotor by
MainController.h@0:187bb46ed128, 2015-07-29 (annotated)
- Committer:
- demaille
- Date:
- Wed Jul 29 20:00:59 2015 +0000
- Revision:
- 0:187bb46ed128
- Child:
- 2:040b8c8f4f92
first brushless motor code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
demaille | 0:187bb46ed128 | 1 | #ifndef MBED_MAINCONTROLLER_H |
demaille | 0:187bb46ed128 | 2 | #define MBED_MAINCONTROLLER_H |
demaille | 0:187bb46ed128 | 3 | |
demaille | 0:187bb46ed128 | 4 | #include "mbed.h" |
demaille | 0:187bb46ed128 | 5 | #include "PwmIn.h" |
demaille | 0:187bb46ed128 | 6 | #include "esc.h" |
demaille | 0:187bb46ed128 | 7 | |
demaille | 0:187bb46ed128 | 8 | #define MATH_PI 3.14159265359 |
demaille | 0:187bb46ed128 | 9 | |
demaille | 0:187bb46ed128 | 10 | class MainController { |
demaille | 0:187bb46ed128 | 11 | public: |
demaille | 0:187bb46ed128 | 12 | /** Create a MainController |
demaille | 0:187bb46ed128 | 13 | * |
demaille | 0:187bb46ed128 | 14 | * @param |
demaille | 0:187bb46ed128 | 15 | */ |
demaille | 0:187bb46ed128 | 16 | MainController() ; |
demaille | 0:187bb46ed128 | 17 | |
demaille | 0:187bb46ed128 | 18 | /** Start the main controller |
demaille | 0:187bb46ed128 | 19 | * @returns |
demaille | 0:187bb46ed128 | 20 | */ |
demaille | 0:187bb46ed128 | 21 | void start(); |
demaille | 0:187bb46ed128 | 22 | float getDutyCycle(); |
demaille | 0:187bb46ed128 | 23 | float getFrequency(); |
demaille | 0:187bb46ed128 | 24 | float getAmplitude(); |
demaille | 0:187bb46ed128 | 25 | float getYaw(); |
demaille | 0:187bb46ed128 | 26 | float getPitch(); |
demaille | 0:187bb46ed128 | 27 | float getTimeAdd(); |
demaille | 0:187bb46ed128 | 28 | float getAdj(); |
demaille | 0:187bb46ed128 | 29 | |
demaille | 0:187bb46ed128 | 30 | /** Stop the main controller |
demaille | 0:187bb46ed128 | 31 | * @returns |
demaille | 0:187bb46ed128 | 32 | */ |
demaille | 0:187bb46ed128 | 33 | void stop(); |
demaille | 0:187bb46ed128 | 34 | |
demaille | 0:187bb46ed128 | 35 | protected: |
demaille | 0:187bb46ed128 | 36 | void control(); |
demaille | 0:187bb46ed128 | 37 | float calculateFrequency(); |
demaille | 0:187bb46ed128 | 38 | float calculateAmplitude(); |
demaille | 0:187bb46ed128 | 39 | float calculateYaw(); |
demaille | 0:187bb46ed128 | 40 | float calculatePitch(); |
demaille | 0:187bb46ed128 | 41 | //float calculateAdj(); |
demaille | 0:187bb46ed128 | 42 | float signum(float input); |
demaille | 0:187bb46ed128 | 43 | float saturate(float input); |
demaille | 0:187bb46ed128 | 44 | |
demaille | 0:187bb46ed128 | 45 | private: |
demaille | 0:187bb46ed128 | 46 | PwmIn ch1; //yaw |
demaille | 0:187bb46ed128 | 47 | PwmIn ch2; //pitch |
demaille | 0:187bb46ed128 | 48 | PwmIn ch3; //amp |
demaille | 0:187bb46ed128 | 49 | PwmIn ch6; //freq |
demaille | 0:187bb46ed128 | 50 | ESC esc1; |
demaille | 0:187bb46ed128 | 51 | //Servo leftservo; |
demaille | 0:187bb46ed128 | 52 | //Servo rightservo; |
demaille | 0:187bb46ed128 | 53 | |
demaille | 0:187bb46ed128 | 54 | Timer timer1; |
demaille | 0:187bb46ed128 | 55 | Ticker ticker1; |
demaille | 0:187bb46ed128 | 56 | float amp; |
demaille | 0:187bb46ed128 | 57 | float ampNew; |
demaille | 0:187bb46ed128 | 58 | float frq; |
demaille | 0:187bb46ed128 | 59 | float dutyCycle; |
demaille | 0:187bb46ed128 | 60 | float curTime; |
demaille | 0:187bb46ed128 | 61 | float frqMin; |
demaille | 0:187bb46ed128 | 62 | float frqMax; |
demaille | 0:187bb46ed128 | 63 | float yaw; |
demaille | 0:187bb46ed128 | 64 | float pitch; |
demaille | 0:187bb46ed128 | 65 | float alPi; |
demaille | 0:187bb46ed128 | 66 | //float adj; |
demaille | 0:187bb46ed128 | 67 | bool fullCycle; |
demaille | 0:187bb46ed128 | 68 | float frqCmd; |
demaille | 0:187bb46ed128 | 69 | float raiser; |
demaille | 0:187bb46ed128 | 70 | |
demaille | 0:187bb46ed128 | 71 | float throttle_var; |
demaille | 0:187bb46ed128 | 72 | }; |
demaille | 0:187bb46ed128 | 73 | |
demaille | 0:187bb46ed128 | 74 | #endif |