Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
structures.h@66:fa7171cf3f67, 2019-10-16 (annotated)
- Committer:
- JornD
- Date:
- Wed Oct 16 13:39:19 2019 +0000
- Branch:
- Branch2
- Revision:
- 66:fa7171cf3f67
- Parent:
- 64:5a6bf0cd1c50
WORKING - Implemented Jordan's motor control
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| JornD | 64:5a6bf0cd1c50 | 1 | #ifndef structures_h |
| JornD | 64:5a6bf0cd1c50 | 2 | #define structures_h |
| JornD | 28:4a5671b3d88d | 3 | |
| JornD | 40:82addb417220 | 4 | //Structures |
| JornD | 40:82addb417220 | 5 | //--Motor data |
| JornD | 66:fa7171cf3f67 | 6 | |
| JornD | 66:fa7171cf3f67 | 7 | struct motorDataOutputSub |
| JornD | 40:82addb417220 | 8 | { |
| JornD | 40:82addb417220 | 9 | int counts; |
| JornD | 40:82addb417220 | 10 | float angle; |
| JornD | 40:82addb417220 | 11 | float velocity; |
| JornD | 40:82addb417220 | 12 | }; |
| JornD | 40:82addb417220 | 13 | |
| JornD | 66:fa7171cf3f67 | 14 | struct motorDataInputSub |
| JornD | 66:fa7171cf3f67 | 15 | { |
| JornD | 66:fa7171cf3f67 | 16 | float PWM; |
| JornD | 66:fa7171cf3f67 | 17 | int calibrationCounts; |
| JornD | 66:fa7171cf3f67 | 18 | }; |
| JornD | 66:fa7171cf3f67 | 19 | |
| JornD | 66:fa7171cf3f67 | 20 | struct motorDataCombined |
| JornD | 40:82addb417220 | 21 | { |
| JornD | 66:fa7171cf3f67 | 22 | motorDataOutputSub output; |
| JornD | 66:fa7171cf3f67 | 23 | motorDataInputSub input; |
| JornD | 66:fa7171cf3f67 | 24 | |
| JornD | 40:82addb417220 | 25 | }; |
| JornD | 49:a9ed4f4cdef7 | 26 | |
| JornD | 66:fa7171cf3f67 | 27 | struct motorStruc |
| JornD | 66:fa7171cf3f67 | 28 | { |
| JornD | 66:fa7171cf3f67 | 29 | motorDataCombined motor1; |
| JornD | 66:fa7171cf3f67 | 30 | motorDataCombined motor2; |
| JornD | 66:fa7171cf3f67 | 31 | motorDataCombined motor3; |
| JornD | 66:fa7171cf3f67 | 32 | float dt; |
| JornD | 66:fa7171cf3f67 | 33 | bool debug; |
| JornD | 66:fa7171cf3f67 | 34 | }; |
| JornD | 66:fa7171cf3f67 | 35 | |
| JornD | 66:fa7171cf3f67 | 36 | |
| JornD | 40:82addb417220 | 37 | //--PID controller settings |
| JornD | 40:82addb417220 | 38 | struct ControllerSettings //Controller settings of the discrete TF |
| JornD | 40:82addb417220 | 39 | { |
| JornD | 40:82addb417220 | 40 | float A; |
| JornD | 40:82addb417220 | 41 | float B; |
| JornD | 40:82addb417220 | 42 | float C; |
| JornD | 40:82addb417220 | 43 | float D; |
| JornD | 40:82addb417220 | 44 | float E; |
| JornD | 40:82addb417220 | 45 | }; |
| JornD | 49:a9ed4f4cdef7 | 46 | |
| JornD | 40:82addb417220 | 47 | //--Memory of Input/Output |
| JornD | 40:82addb417220 | 48 | struct MemoryIO |
| JornD | 40:82addb417220 | 49 | { |
| JornD | 58:897b67113094 | 50 | float Ym; //output, delayed once |
| JornD | 58:897b67113094 | 51 | float Ymm; //output, delayed twice |
| JornD | 58:897b67113094 | 52 | float Xm; //input, delayed once |
| JornD | 58:897b67113094 | 53 | float Xmm; //input, delayed twice |
| JornD | 50:283a831f84a9 | 54 | void ShiftValues(float CurX, float CurY) //Input: Current X, current Y |
| JornD | 50:283a831f84a9 | 55 | { |
| JornD | 58:897b67113094 | 56 | Ymm = Ym; //Y delayed once to Y delayed twice |
| JornD | 58:897b67113094 | 57 | Xmm = Xm; //X delayed once to X delayed twice |
| JornD | 58:897b67113094 | 58 | Ym = CurY; //Current Y to Y delayed once |
| JornD | 58:897b67113094 | 59 | Xm = CurX; //Current X to X delayed once |
| JornD | 53:0aab2185b144 | 60 | }; |
| JornD | 40:82addb417220 | 61 | }; |
| JornD | 61:4c7de1e2f9fe | 62 | |
| JornD | 28:4a5671b3d88d | 63 | #endif |