Diff: MDPIDSpeed/MDPIDSpeed.h

Revision:

0:e83b840a5f86

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MDPIDSpeed/MDPIDSpeed.h	Tue Sep 18 03:11:01 2018 +0000
@@ -0,0 +1,40 @@
+/*
+ * MDPIDSpeed.h
+ *
+ *  Created on: 2018/08/31
+ *      Author: komazawataiyou
+ */
+
+#ifndef NUCLEO_FLIPING_ARM_LIB_MD_PID_SPEED_MDPIDSPEED_H_
+#define NUCLEO_FLIPING_ARM_LIB_MD_PID_SPEED_MDPIDSPEED_H_
+
+#include "mbed.h"
+#include "MD.h"
+#include "QEI.h"
+#include "Timer_PID.h"
+
+class MD_PID_Speed: public MD, public Timer_PID{
+public:
+	MD_PID_Speed(MD *md, QEI *encorder, double kp, double ki, double kd);
+	virtual ~MD_PID_Speed();
+
+	 virtual void drive(double rpm);
+	 virtual void brake(double rpm);
+	 virtual void free();
+
+	 double get_duty();
+	 double get_current_rpm();
+
+	 bool target_complete(float allowable_error);
+
+	 void reset();
+private:
+    MD *md;
+    QEI *encorder;
+
+    double target_rpm_;
+    double rpm_log_[4];
+    double duty_;
+};
+
+#endif /* NUCLEO_FLIPING_ARM_LIB_MD_PID_SPEED_MDPIDSPEED_H_ */