Diff: motor.h

Revision:

0:910b46b1e4ae

Child:

1:2911b1a7b611

diff -r 000000000000 -r 910b46b1e4ae motor.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.h	Thu Oct 13 15:24:37 2016 +0000
@@ -0,0 +1,94 @@
+#ifndef MOTOR_H
+#define  MOTOR_H
+#include "mbed.h"
+#include "PwmOut.h"
+#include "USBSerial.h"
+
+class Motor {
+public:
+    Motor();
+    Motor(USBSerial *pc, PwmOut *pwm, DigitalOut *dir1, DigitalOut *dir2, DigitalIn *fault);
+    
+    uint8_t pid_on;
+    int16_t encTicks;
+    volatile int16_t speed;
+    uint8_t pgain, igain, dgain;
+
+    void setup();
+    /*
+     * Run this to update speed
+     */
+    void pid(int16_t encTicks);
+    void pid2(int16_t encTicks);
+    void init();
+    int16_t getSpeed();
+    void setSpeed (int16_t speed);
+    void getPIDGain(char *gain);
+    void forward(float pwm);
+    void backward(float pwm);
+private:
+    static const unsigned int PWM_PERIOD_US = 1000;
+
+    USBSerial *_pc;
+    PwmOut *_pwm;
+    DigitalOut *_dir1;
+    DigitalOut *_dir2;
+    DigitalIn *_fault;
+
+    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 pidSpeed0;
+    float pidSpeed1;
+    float pidError0;
+    float pidError1;
+    float pidError2;
+    float pidSetpoint;
+
+/*
+    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;
+    int16_t imax, err_max;
+    uint8_t pid_multi, 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;
+
+
+    void reset_pid();
+
+};
+#endif //MOTOR_H