Diff: Motor.h

Revision:

0:aefd03ad04e6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h	Mon Oct 30 13:50:58 2017 +0000
@@ -0,0 +1,74 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "PID.h"
+/** Motorclass 
+    Used to control Servo motors
+*/
+class Motor{
+    public:
+    /** Motor class declaration
+    @param PWM Pin
+    @param Direction Pin
+    @param Encoder Pin1
+    @param Encoder Pin2
+    @param Homingswitch
+    @param controller Interval
+    */
+    Motor(PinName PWM, PinName Direction, PinName Enc1,PinName Enc2,PinName HomingSW,float interval);
+    
+    /** GotoPos function
+        This function Sends the motor to the requested Position.
+        This Function needs to be called repeadedly since it also 
+        triggers one tick of the PID controller
+        @param The required Position in radians
+    */
+    void GotoPos(float Rad);
+    
+    /** Outputs the current motor position in radians, while keeping the gear ratio into account
+    */
+    float GetPos();
+    
+    /** Homes the motor with the homing pin
+        @param Direction
+        @param PWM value
+        @param HomingPosition in radians
+    */
+    void Homing(bool direction, float PWM, float HomingPos);
+    
+    /** Set the Pid values
+    @param Pvalue
+    @param Ti
+    @param Td
+    */
+    void SetPID(float P,float Ti,float Td);
+    
+    /** Set the motor gear ratio
+    */
+    void SetGearRatio(float GearRatio);
+    
+    /** Set the inputlimits, or the allowed Position
+    @param InputMinimum
+    @param InputMaximum
+    */
+    void SetInputLimits(float Imin, float Imax);
+    
+    /** Set the output Limits of the PWM
+    @param OutputMinimum
+    @param OutputMaximum
+    */
+    void SetOutputLimits(float Omin, float Omax);
+    
+    /** Stops the motor
+    */
+    void Stop();
+    
+    private:
+    QEI encoder;
+    float _GearRatio;
+    
+    PwmOut      MotorThrottle;
+    DigitalOut  MotorDirection;
+    DigitalIn   HomingSwitch;
+    
+    PID controller;
+};
\ No newline at end of file