motor.h

00001 #ifndef MOTOR_H
00002 #define MOTOR_H
00003 
00004 #include "mbed.h"
00005 #include "PCA9555.h"
00006 #include "qed.h"
00007  /** Class for controlling motors trough PCA9555 */
00008 class Motor {
00009 protected:
00010     FunctionPointer stallWarningCallback;
00011     FunctionPointer stallErrorCallback;
00012 public:
00013     /** Create an instance of the motor connected to specfied pins, and IO-expander.
00014      *
00015      * @param PWMpin Pin for PWM output
00016      * @param *ioExt Pointer to IO-expander object
00017      * @param dir1Pin Direction pin 1 number (on IO-expander)
00018      * @param dir2Pin Direction pin 2 number (on IO-expander)
00019      * @param encA Encoder pin
00020      * @param encB Encoder pin
00021      */
00022     Motor(PinName PWMpin, PCA9555 *ioExt, unsigned int dir1Pin, unsigned int dir2Pin, PinName encA, PinName encB);
00023     
00024     /** Set speed setpoint
00025      *
00026      * @param newSpeed New setpoint
00027      */
00028     void setSpeed(int newSpeed);
00029     
00030     /** Get current speed setpoint value */
00031     int getSpeed();
00032     
00033     /**Method that calculates appropriate PWM values for keeping motor speed close to setpoint
00034     *     This method shoud be called periodically (60Hz)
00035     */
00036     void pid();
00037     
00038     void stallWarning(void (*function)(void));
00039     
00040     template<typename T>
00041     void stallWarning(T *object, void (T::*member)(void)) { 
00042         stallWarningCallback.attach(object, member); 
00043     }
00044     
00045     void stallError(void (*function)(void));
00046     
00047     template<typename T>
00048     void stallError(T *object, void (T::*member)(void)) { 
00049         stallErrorCallback.attach(object, member); 
00050     }
00051  
00052 private:
00053     PwmOut pwm;
00054     PCA9555 *extIO;
00055     unsigned int dir1;
00056     unsigned int dir2;
00057     QED qed;
00058     
00059     int currentSpeed;
00060     int getDecoderCount();
00061     
00062     void resetPID();
00063     
00064 <<<<<<< local
00065 =======
00066     /** Set pwm duty cycle
00067      *
00068      * @param newPWM Duty cycle
00069      */
00070     void setPWM(int newPWM);
00071     
00072     //void pid();
00073     
00074 >>>>>>> other
00075     int setPoint;
00076     int pMulti;
00077     int iDiv;
00078     int dMulti;
00079     int error;
00080     int prevError;
00081     int P;
00082     int I;
00083     int D;
00084     int minPwm;
00085     int pidMulti;
00086     int iMax;
00087     
00088     int currentPWM;
00089     int stallCounter;
00090     int stallCounterLimit;
00091 };
00092 
00093 #endif