Diff: inc/SimpleTLE5206Profiler.h

Revision:

3:b7d951c6f551

Child:

4:d69f22061c03

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/SimpleTLE5206Profiler.h	Tue Jul 05 14:27:56 2011 +0000
@@ -0,0 +1,108 @@
+/*
+    Copyright (c) 2011 Andy Kirkham
+ 
+    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.
+*/
+
+
+#ifndef AJK_SIMPLETLE5206PROFILER_H
+#define AJK_SIMPLETLE5206PROFILER_H
+
+#include "mbed.h"
+#include "SimpleTLE5206.h"
+
+namespace AjK {
+
+class SimpleTLE5206Profiler : public SimpleTLE5206 {
+
+protected:
+    Ticker  _poll;
+    double  _desired_speed;
+    double  _actual_speed;
+    double  _accel_rate;
+    double  _decel_rate;
+    int     _poll_interval;
+
+    void poll(void) 
+    {
+        if (_actual_speed < _desired_speed) {
+            _actual_speed += _accel_rate;
+            if (_actual_speed > _desired_speed) {
+                _actual_speed = _desired_speed;
+            }
+            SimpleTLE5206::setSpeed(_actual_speed);
+        }
+        if (_actual_speed > _desired_speed) {
+            _actual_speed -= _decel_rate;
+            if (_actual_speed < _desired_speed) {
+                _actual_speed = _desired_speed;
+            }
+            SimpleTLE5206::setSpeed(_actual_speed);
+        }
+    }
+    
+public:
+
+    friend class Ticker;
+    
+    SimpleTLE5206Profiler(SimpleTLE5206Output *in1, SimpleTLE5206Output *in2, int duty_cycle_hz) : 
+        SimpleTLE5206(in1, in2, duty_cycle_hz) 
+    {
+        _desired_speed = 0.0;
+        _actual_speed  = 0.0;
+        _accel_rate = 0.01;
+        _decel_rate = 0.01;
+        _poll_interval = 10000; // 10ms
+        _poll.attach_us(this, &SimpleTLE5206Profiler::poll, _poll_interval);   
+    }
+    
+    int  getPollInterval(void)  { return _poll_interval; }
+    void setPollInterval(int i) 
+    { 
+        _poll_interval = i;
+        _poll.detach();
+        _poll.attach_us(this, &SimpleTLE5206Profiler::poll, _poll_interval);
+    }
+    
+    void setAccelRate(double rate) { _accel_rate = rate; } 
+    double getAccelRate(void) { return _accel_rate; } 
+    
+    void setDecelRate(double rate) { _decel_rate = rate; } 
+    double getDecelRate(void) { return _decel_rate; } 
+    
+    void setSpeed(double demand_speed)
+    {
+        _desired_speed = demand_speed;
+    }
+    
+    double getSpeed(void) { return _actual_speed; }
+    
+    void eStop(void) 
+    {
+        _desired_speed = 0;
+        SimpleTLE5206::setSpeed(_desired_speed);
+    }
+    
+   
+};
+
+}; // namespace AjK ends.
+
+
+#endif