Diff: motor.h

Revision:

0:20e026e254d6

Child:

1:911f5a86c105

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.h	Thu May 09 22:20:02 2019 +0000
@@ -0,0 +1,62 @@
+#ifndef MBED_MOTOR_h
+#define MBED_MOTOR_h
+
+#include "mbed.h"
+
+#define PWMOFFSET 512 // pwm @ Duty 50% 
+#define MaxBuf 255  // buffer size to store the speed data
+
+class MotorCtl
+{
+    public:
+    
+        MotorCtl(PinName Pwm, PinName Dir, PinName tachoA, PinName tachoB);
+        
+        ~MotorCtl();
+
+        int getRPM();
+        int getTarget();
+        int getError();
+        float getKP();
+        float getKI();
+        float getKD();
+        int *getHistory();
+        int getCurrentPosition();
+        
+        void SetPeriod(long pwmPeriod); // set pwm period
+        void setTarget(int spd);
+        void setPID(float p, float i, float d);
+        void setDirection(); // set the direction
+    
+        //Control Methods
+        void UpdateCurrentPosition();
+        void PIDControl();
+        void Reset(void);
+
+        
+    private:
+        PwmOut _pwm;
+        DigitalOut _Dir;
+        DigitalInOut _tachoA;
+        DigitalInOut _tachoB;
+        Ticker _tick;
+        
+        long CurrentPosition, PreviousPosition; // Position Value
+        int TargetSpeed, CurrentSpeed, Error,PreviousError; // Speed Data
+        unsigned int duty; // Duty level ( 0-1024)
+        unsigned int pwmPeriod; // default 50ms
+        unsigned char pwmpin; // PB2 ( 10 )
+        unsigned char ppin, npin,dr;  // dr =10 means ccwise, dr=0 means clockwise
+        unsigned int CntPerRev;
+        unsigned int DeltaT;
+        unsigned char PreviousEncode;
+        float kp, ki, kd;
+        int integ, derv,control,cw0[MaxBuf];
+        unsigned char cpidx;
+        float CalculateRPM(int DeltaCnt); // Calculate RPM value
+
+};
+#endif
+        
+        
+        
\ No newline at end of file