Diff: Motor/motor.h

Revision:

0:ef6268629f0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor/motor.h	Fri Sep 28 10:46:57 2018 +0000
@@ -0,0 +1,110 @@
+#ifndef MOTOR_H
+#define MOTOR_H
+
+#include "mbed.h"
+#include "qed.h"
+
+class Motor {
+protected:
+    FunctionPointer stallChangeCallback;
+    FunctionPointer stallEndCallback;
+    FunctionPointer stallWarningCallback;
+    FunctionPointer stallErrorCallback;
+public:
+    /** Create an instance of the motor connected to specfied pins, and IO-expander.
+     *
+     * @param PWMpin Pin for PWM output
+     * @param dir1 Direction 1 pin
+     * @param dir2 Direction 2 pin
+     * @param encA Encoder pin
+     * @param encB Encoder pin
+     */
+    Motor(PinName PWMpin, PinName dir1Pin, PinName dir2Pin, PinName encA, PinName encB);
+    
+    /** Set speed setpoint
+     *
+     * @param newSpeed New setpoint
+     */
+    void setSpeed(int newSpeed);
+    
+    /** Get current speed setpoint value */
+    int getSpeed();
+    
+    /**Method that calculates appropriate PWM values for keeping motor speed close to setpoint
+    *     This method shoud be called periodically (60Hz)
+    */
+    void pid();
+    
+    int getStallLevel();
+    
+    void stallChange(void (*function)(void));
+    
+    template<typename T>
+    void stallChange(T *object, void (T::*member)(void)) { 
+        stallChangeCallback.attach(object, member); 
+    }
+    
+    void stallEnd(void (*function)(void));
+    
+    template<typename T>
+    void stallEnd(T *object, void (T::*member)(void)) { 
+        stallEndCallback.attach(object, member); 
+    }
+    
+    void stallWarning(void (*function)(void));
+    
+    template<typename T>
+    void stallWarning(T *object, void (T::*member)(void)) { 
+        stallWarningCallback.attach(object, member); 
+    }
+    
+    void stallError(void (*function)(void));
+    
+    template<typename T>
+    void stallError(T *object, void (T::*member)(void)) { 
+        stallErrorCallback.attach(object, member); 
+    }
+ 
+private:
+    PwmOut pwm;
+    DigitalOut dir1;
+    DigitalOut dir2;
+    QED qed;
+    
+    int currentSpeed;
+    int getDecoderCount();
+    
+    void resetPID();
+
+    /** Set pwm duty cycle
+     *
+     * @param newPWM Duty cycle
+     */
+    void setPWM(int newPWM);
+    
+    //void pid();
+
+    int setPoint;
+    int pMulti;
+    int iMulti;
+    int dMulti;
+    int error;
+    int prevError;
+    int P;
+    int I;
+    int D;
+    int minPwm;
+    int pidMulti;
+    int iMax;
+    
+    int pwmPeriod;
+    
+    int currentPWM;
+    int stallCount;
+    int prevStallCount;
+    int stallWarningLimit;
+    int stallErrorLimit;
+    int stallLevel;
+};
+
+#endif
\ No newline at end of file