Pascal Sandrez / MotorControl

Custom version for NXP cup car

Dependents:   NXPCUPcar

MotorControl.h@0:a1bb4583940a, 2016-03-24 (annotated)

Committer:
Clarkk
Date:
Thu Mar 24 20:12:32 2016 +0000
Revision:
0:a1bb4583940a
Child:
1:7ce4ffeb8ccb
First version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Clarkk 0:a1bb4583940a 1 #include "mbed.h"
Clarkk 0:a1bb4583940a 2 #include "TFC.h"
Clarkk 0:a1bb4583940a 3
Clarkk 0:a1bb4583940a 4 #ifndef _MOTORCONTROL_H
Clarkk 0:a1bb4583940a 5 #define _MOTORCONTROL_H
Clarkk 0:a1bb4583940a 6
Clarkk 0:a1bb4583940a 7 #define MOTSAMPLECOUNT 100
Clarkk 0:a1bb4583940a 8 #define BATSAMPLECOUNT 100
Clarkk 0:a1bb4583940a 9
Clarkk 0:a1bb4583940a 10 class Motors
Clarkk 0:a1bb4583940a 11 {
Clarkk 0:a1bb4583940a 12 public:
Clarkk 0:a1bb4583940a 13
Clarkk 0:a1bb4583940a 14 Motors();
Clarkk 0:a1bb4583940a 15 void start();
Clarkk 0:a1bb4583940a 16 void stop();
Clarkk 0:a1bb4583940a 17 void saveBatteryVoltageMeasure(uint16_t ADCresult);
Clarkk 0:a1bb4583940a 18 void saveMotorCurrentMeasure(uint16_t MotA_ADCresult, uint16_t MotB_ADCresult);
Clarkk 0:a1bb4583940a 19 void saveSteering(float angle);
Clarkk 0:a1bb4583940a 20 float getWheelSpeed(char mot);
Clarkk 0:a1bb4583940a 21 float getWheelRPS(char mot);
Clarkk 0:a1bb4583940a 22 void processTasks();
Clarkk 0:a1bb4583940a 23 float getAverageMotCurrent(char mot);
Clarkk 0:a1bb4583940a 24 float getAverageBatteryVoltage();
Clarkk 0:a1bb4583940a 25 void setFixedPWMValue(float pwm);
Clarkk 0:a1bb4583940a 26
Clarkk 0:a1bb4583940a 27 private:
Clarkk 0:a1bb4583940a 28
Clarkk 0:a1bb4583940a 29 uint16_t motorACurrent[MOTSAMPLECOUNT];
Clarkk 0:a1bb4583940a 30 uint16_t motorBCurrent[MOTSAMPLECOUNT];
Clarkk 0:a1bb4583940a 31 uint16_t batteryVoltage[BATSAMPLECOUNT];
Clarkk 0:a1bb4583940a 32
Clarkk 0:a1bb4583940a 33 uint8_t motorCurrentIndex;
Clarkk 0:a1bb4583940a 34 uint8_t batVoltageIndex;
Clarkk 0:a1bb4583940a 35
Clarkk 0:a1bb4583940a 36 float currentPWM;
Clarkk 0:a1bb4583940a 37 float steeringAngle;
Clarkk 0:a1bb4583940a 38 };
Clarkk 0:a1bb4583940a 39
Clarkk 0:a1bb4583940a 40 #endif