motor.h

00001 #ifndef MOTOR_H
00002 #define  MOTOR_H
00003 #include "mbed.h"
00004 #include "PwmOut.h"
00005 
00006 class Motor {
00007 public:
00008     //Motor() = default;
00009     Motor(Serial *pc, PinName pwm, PinName dir1, PinName dir2, PinName fault, PinName encA, PinName encB);
00010     //Motor (const Motor& ) = default;
00011 
00012     uint8_t pid_on;
00013     int16_t encTicks;
00014     volatile int16_t speed;
00015     float pgain, igain, dgain;
00016 
00017     /*
00018      * Run this to update speed
00019      */
00020     void pid2(int16_t encTicks);
00021     int16_t getSpeed();
00022     void setSpeed (int16_t speed);
00023     void getPIDGain(char *gain);
00024     void forward(float pwm);
00025     void backward(float pwm);
00026     void pidTick();
00027 private:
00028     static const unsigned int PWM_PERIOD_US = 2500;
00029 
00030     Serial *_pc;
00031     PwmOut _pwm;
00032     DigitalOut _dir1;
00033     DigitalOut _dir2;
00034     DigitalIn _fault;
00035     InterruptIn _encA;
00036     InterruptIn _encB;
00037 
00038     volatile int16_t ticks;
00039     volatile uint8_t encNow;
00040     volatile uint8_t encLast;
00041     void encTick();
00042 
00043     union doublebyte {
00044         unsigned int value;
00045         unsigned char bytes[2];
00046     };
00047 
00048     uint8_t enc_dir;
00049     uint8_t enc_last;
00050     uint8_t enc_now;
00051 
00052     uint8_t dir;
00053 
00054     int16_t currentPWM;
00055     uint8_t motor_polarity;
00056 
00057     float pidSpeed;
00058     float pidError;
00059     float pidErrorPrev;
00060     float pidSetpoint;
00061 
00062     float i;
00063 
00064 /*
00065     union doublebyte wcount;
00066     union doublebyte decoder_count;
00067 
00068     uint8_t dir;
00069 */
00070 
00071     uint8_t fail_counter;
00072     uint8_t send_speed;
00073     uint8_t failsafe;
00074     uint8_t leds_on;
00075 
00076     int16_t sp, sp_pid, der;
00077     int16_t intgrl, prop;
00078     //int16_t count, speed;
00079     int16_t csum;
00080     int16_t err, err_prev;
00081 
00082     int16_t pwm, pwm_min, pwmmin;
00083     uint8_t update_pid;
00084 
00085     uint16_t stall_counter;
00086     uint16_t stallCount;
00087     uint16_t prevStallCount;
00088     uint16_t stallWarningLimit;
00089     uint16_t stallErrorLimit;
00090     uint8_t stallLevel;
00091     uint8_t stallChanged;
00092     //int16_t currentPWM;
00093 
00094     uint8_t counter;
00095 
00096 
00097     void reset_pid();
00098 
00099 };
00100 #endif //MOTOR_H