Diff: motor/motor.h

Revision:

0:88887cfb2b04

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor/motor.h	Mon Sep 10 15:24:08 2018 +0000
@@ -0,0 +1,100 @@
+#ifndef MOTOR_H
+#define  MOTOR_H
+#include "mbed.h"
+#include "PwmOut.h"
+
+class Motor {
+public:
+    //Motor() = default;
+    Motor(Serial *pc, PinName pwm, PinName dir1, PinName dir2, PinName fault, PinName encA, PinName encB);
+    //Motor (const Motor& ) = default;
+
+    uint8_t pid_on;
+    int16_t encTicks;
+    volatile int16_t speed;
+    float pgain, igain, dgain;
+
+    /*
+     * Run this to update speed
+     */
+    void pid2(int16_t encTicks);
+    int16_t getSpeed();
+    void setSpeed (int16_t speed);
+    void getPIDGain(char *gain);
+    void forward(float pwm);
+    void backward(float pwm);
+    void pidTick();
+private:
+    static const unsigned int PWM_PERIOD_US = 2500;
+
+    Serial *_pc;
+    PwmOut _pwm;
+    DigitalOut _dir1;
+    DigitalOut _dir2;
+    DigitalIn _fault;
+    InterruptIn _encA;
+    InterruptIn _encB;
+
+    volatile int16_t ticks;
+    volatile uint8_t encNow;
+    volatile uint8_t encLast;
+    void encTick();
+
+    union doublebyte {
+        unsigned int value;
+        unsigned char bytes[2];
+    };
+
+    uint8_t enc_dir;
+    uint8_t enc_last;
+    uint8_t enc_now;
+
+    uint8_t dir;
+
+    int16_t currentPWM;
+    uint8_t motor_polarity;
+
+    float pidSpeed;
+    float pidError;
+    float pidErrorPrev;
+    float pidSetpoint;
+
+    float i;
+
+/*
+    union doublebyte wcount;
+    union doublebyte decoder_count;
+
+    uint8_t dir;
+*/
+
+    uint8_t fail_counter;
+    uint8_t send_speed;
+    uint8_t failsafe;
+    uint8_t leds_on;
+
+    int16_t sp, sp_pid, der;
+    int16_t intgrl, prop;
+    //int16_t count, speed;
+    int16_t csum;
+    int16_t err, err_prev;
+
+    int16_t pwm, pwm_min, pwmmin;
+    uint8_t update_pid;
+
+    uint16_t stall_counter;
+    uint16_t stallCount;
+    uint16_t prevStallCount;
+    uint16_t stallWarningLimit;
+    uint16_t stallErrorLimit;
+    uint8_t stallLevel;
+    uint8_t stallChanged;
+    //int16_t currentPWM;
+
+    uint8_t counter;
+
+
+    void reset_pid();
+
+};
+#endif //MOTOR_H