Reiko Randoja
/
ut_bbr_2018
Firmware for UT Robotex 2018 basketball robot
Motor/motor.h@0:ef6268629f0b, 2018-09-28 (annotated)
- Committer:
- Reiko
- Date:
- Fri Sep 28 10:46:57 2018 +0000
- Revision:
- 0:ef6268629f0b
Firmware for UT Robotex 2018 basketball robot
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Reiko | 0:ef6268629f0b | 1 | #ifndef MOTOR_H |
Reiko | 0:ef6268629f0b | 2 | #define MOTOR_H |
Reiko | 0:ef6268629f0b | 3 | |
Reiko | 0:ef6268629f0b | 4 | #include "mbed.h" |
Reiko | 0:ef6268629f0b | 5 | #include "qed.h" |
Reiko | 0:ef6268629f0b | 6 | |
Reiko | 0:ef6268629f0b | 7 | class Motor { |
Reiko | 0:ef6268629f0b | 8 | protected: |
Reiko | 0:ef6268629f0b | 9 | FunctionPointer stallChangeCallback; |
Reiko | 0:ef6268629f0b | 10 | FunctionPointer stallEndCallback; |
Reiko | 0:ef6268629f0b | 11 | FunctionPointer stallWarningCallback; |
Reiko | 0:ef6268629f0b | 12 | FunctionPointer stallErrorCallback; |
Reiko | 0:ef6268629f0b | 13 | public: |
Reiko | 0:ef6268629f0b | 14 | /** Create an instance of the motor connected to specfied pins, and IO-expander. |
Reiko | 0:ef6268629f0b | 15 | * |
Reiko | 0:ef6268629f0b | 16 | * @param PWMpin Pin for PWM output |
Reiko | 0:ef6268629f0b | 17 | * @param dir1 Direction 1 pin |
Reiko | 0:ef6268629f0b | 18 | * @param dir2 Direction 2 pin |
Reiko | 0:ef6268629f0b | 19 | * @param encA Encoder pin |
Reiko | 0:ef6268629f0b | 20 | * @param encB Encoder pin |
Reiko | 0:ef6268629f0b | 21 | */ |
Reiko | 0:ef6268629f0b | 22 | Motor(PinName PWMpin, PinName dir1Pin, PinName dir2Pin, PinName encA, PinName encB); |
Reiko | 0:ef6268629f0b | 23 | |
Reiko | 0:ef6268629f0b | 24 | /** Set speed setpoint |
Reiko | 0:ef6268629f0b | 25 | * |
Reiko | 0:ef6268629f0b | 26 | * @param newSpeed New setpoint |
Reiko | 0:ef6268629f0b | 27 | */ |
Reiko | 0:ef6268629f0b | 28 | void setSpeed(int newSpeed); |
Reiko | 0:ef6268629f0b | 29 | |
Reiko | 0:ef6268629f0b | 30 | /** Get current speed setpoint value */ |
Reiko | 0:ef6268629f0b | 31 | int getSpeed(); |
Reiko | 0:ef6268629f0b | 32 | |
Reiko | 0:ef6268629f0b | 33 | /**Method that calculates appropriate PWM values for keeping motor speed close to setpoint |
Reiko | 0:ef6268629f0b | 34 | * This method shoud be called periodically (60Hz) |
Reiko | 0:ef6268629f0b | 35 | */ |
Reiko | 0:ef6268629f0b | 36 | void pid(); |
Reiko | 0:ef6268629f0b | 37 | |
Reiko | 0:ef6268629f0b | 38 | int getStallLevel(); |
Reiko | 0:ef6268629f0b | 39 | |
Reiko | 0:ef6268629f0b | 40 | void stallChange(void (*function)(void)); |
Reiko | 0:ef6268629f0b | 41 | |
Reiko | 0:ef6268629f0b | 42 | template<typename T> |
Reiko | 0:ef6268629f0b | 43 | void stallChange(T *object, void (T::*member)(void)) { |
Reiko | 0:ef6268629f0b | 44 | stallChangeCallback.attach(object, member); |
Reiko | 0:ef6268629f0b | 45 | } |
Reiko | 0:ef6268629f0b | 46 | |
Reiko | 0:ef6268629f0b | 47 | void stallEnd(void (*function)(void)); |
Reiko | 0:ef6268629f0b | 48 | |
Reiko | 0:ef6268629f0b | 49 | template<typename T> |
Reiko | 0:ef6268629f0b | 50 | void stallEnd(T *object, void (T::*member)(void)) { |
Reiko | 0:ef6268629f0b | 51 | stallEndCallback.attach(object, member); |
Reiko | 0:ef6268629f0b | 52 | } |
Reiko | 0:ef6268629f0b | 53 | |
Reiko | 0:ef6268629f0b | 54 | void stallWarning(void (*function)(void)); |
Reiko | 0:ef6268629f0b | 55 | |
Reiko | 0:ef6268629f0b | 56 | template<typename T> |
Reiko | 0:ef6268629f0b | 57 | void stallWarning(T *object, void (T::*member)(void)) { |
Reiko | 0:ef6268629f0b | 58 | stallWarningCallback.attach(object, member); |
Reiko | 0:ef6268629f0b | 59 | } |
Reiko | 0:ef6268629f0b | 60 | |
Reiko | 0:ef6268629f0b | 61 | void stallError(void (*function)(void)); |
Reiko | 0:ef6268629f0b | 62 | |
Reiko | 0:ef6268629f0b | 63 | template<typename T> |
Reiko | 0:ef6268629f0b | 64 | void stallError(T *object, void (T::*member)(void)) { |
Reiko | 0:ef6268629f0b | 65 | stallErrorCallback.attach(object, member); |
Reiko | 0:ef6268629f0b | 66 | } |
Reiko | 0:ef6268629f0b | 67 | |
Reiko | 0:ef6268629f0b | 68 | private: |
Reiko | 0:ef6268629f0b | 69 | PwmOut pwm; |
Reiko | 0:ef6268629f0b | 70 | DigitalOut dir1; |
Reiko | 0:ef6268629f0b | 71 | DigitalOut dir2; |
Reiko | 0:ef6268629f0b | 72 | QED qed; |
Reiko | 0:ef6268629f0b | 73 | |
Reiko | 0:ef6268629f0b | 74 | int currentSpeed; |
Reiko | 0:ef6268629f0b | 75 | int getDecoderCount(); |
Reiko | 0:ef6268629f0b | 76 | |
Reiko | 0:ef6268629f0b | 77 | void resetPID(); |
Reiko | 0:ef6268629f0b | 78 | |
Reiko | 0:ef6268629f0b | 79 | /** Set pwm duty cycle |
Reiko | 0:ef6268629f0b | 80 | * |
Reiko | 0:ef6268629f0b | 81 | * @param newPWM Duty cycle |
Reiko | 0:ef6268629f0b | 82 | */ |
Reiko | 0:ef6268629f0b | 83 | void setPWM(int newPWM); |
Reiko | 0:ef6268629f0b | 84 | |
Reiko | 0:ef6268629f0b | 85 | //void pid(); |
Reiko | 0:ef6268629f0b | 86 | |
Reiko | 0:ef6268629f0b | 87 | int setPoint; |
Reiko | 0:ef6268629f0b | 88 | int pMulti; |
Reiko | 0:ef6268629f0b | 89 | int iMulti; |
Reiko | 0:ef6268629f0b | 90 | int dMulti; |
Reiko | 0:ef6268629f0b | 91 | int error; |
Reiko | 0:ef6268629f0b | 92 | int prevError; |
Reiko | 0:ef6268629f0b | 93 | int P; |
Reiko | 0:ef6268629f0b | 94 | int I; |
Reiko | 0:ef6268629f0b | 95 | int D; |
Reiko | 0:ef6268629f0b | 96 | int minPwm; |
Reiko | 0:ef6268629f0b | 97 | int pidMulti; |
Reiko | 0:ef6268629f0b | 98 | int iMax; |
Reiko | 0:ef6268629f0b | 99 | |
Reiko | 0:ef6268629f0b | 100 | int pwmPeriod; |
Reiko | 0:ef6268629f0b | 101 | |
Reiko | 0:ef6268629f0b | 102 | int currentPWM; |
Reiko | 0:ef6268629f0b | 103 | int stallCount; |
Reiko | 0:ef6268629f0b | 104 | int prevStallCount; |
Reiko | 0:ef6268629f0b | 105 | int stallWarningLimit; |
Reiko | 0:ef6268629f0b | 106 | int stallErrorLimit; |
Reiko | 0:ef6268629f0b | 107 | int stallLevel; |
Reiko | 0:ef6268629f0b | 108 | }; |
Reiko | 0:ef6268629f0b | 109 | |
Reiko | 0:ef6268629f0b | 110 | #endif |