![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
a
Diff: include/Controllers/controller.hpp
- Revision:
- 1:ceee5a608e7c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/include/Controllers/controller.hpp Thu Mar 28 07:44:42 2019 +0000 @@ -0,0 +1,83 @@ +/** + ****************************************************************************** + * @file Controller.hpp + * @author RBRO/PJ-IU + * @version V1.0.0 + * @date day-month-year + * @brief This file contains the class declaration for the controller + * functionality. + ****************************************************************************** + */ + +/* Include guard */ + +#ifndef CONTROLLER_HPP +#define CONTROLLER_HPP +#include<cmath> +#include<Controllers/pidcontroller.hpp> + +#include <Encoders/encoderinterface.hpp> +#include <Controllers/converters.hpp> + +#include <mbed.h> + +namespace controllers +{ + + /** CControllerSiso class + * @brief It implements a controller with a single input and a single output. It needs an encoder getter interface to get the measured values, a controller to calculate the control signal. It can be completed with a converter to convert the measaurment unit of the control signal. + * + */ + class CControllerSiso + { + /* PID controller declaration*/ + template <class T> + using ControllerType=siso::IController<T>; + + public: + /* Construnctor */ + CControllerSiso(encoders::IEncoderGetter& f_encoder + ,ControllerType<double>& f_pid + ,controllers::IConverter* f_converter=NULL); + /* Set controller reference value */ + void setRef(double f_RefRps); + /* Get controller reference value */ + double getRef(); + /* Get control value */ + double get(); + /* Get error */ + double getError(); + /* Clear PID parameters */ + void clear(); + /* Control action */ + bool control(); + + private: + /* PWM onverter */ + double converter(double f_u); + + /* Enconder object reference */ + encoders::IEncoderGetter& m_encoder; + /* PID object reference */ + ControllerType<double>& m_pid; + /* Controller reference */ + double m_RefRps; + /* Control value */ + double m_u; + /* Error */ + double m_error; + /* Converter */ + controllers::IConverter* m_converter; + /* Scaled PWM control signal limits */ + const float m_control_sup; + const float m_control_inf; + /* Inferior limit of absolut reference */ + const float m_ref_abs_inf; + /* Inferior and superior limits of absolute speed measurment for standing state */ + const float m_mes_abs_inf; + const float m_mes_abs_sup; + + }; +}; // namespace controllers + +#endif