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