controller.hpp

00001 /**
00002   ******************************************************************************
00003   * @file    Controller.hpp
00004   * @author  RBRO/PJ-IU
00005   * @version V1.0.0
00006   * @date    day-month-year
00007   * @brief   This file contains the class declaration for the controller
00008   *          functionality.
00009   ******************************************************************************
00010  */
00011 
00012 /* Include guard */
00013 
00014 #ifndef CONTROLLER_HPP
00015 #define CONTROLLER_HPP
00016 #include<cmath>
00017 #include<Controllers/pidcontroller.hpp>
00018 
00019 #include <Encoders/encoderinterface.hpp >
00020 #include <Controllers/converters.hpp >
00021 
00022 #include <mbed.h>
00023 
00024 namespace controllers
00025 {
00026 
00027    /** CControllerSiso class
00028     * @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. 
00029     * 
00030     */
00031     class CControllerSiso
00032     {
00033         /* PID controller declaration*/
00034         template <class T>
00035         using  ControllerType=siso::IController<T>;
00036 
00037         public:
00038             /* Construnctor */
00039             CControllerSiso(encoders::IEncoderGetter&               f_encoder
00040                             ,ControllerType<double>&                f_pid
00041                             ,controllers::IConverter*                   f_converter=NULL);
00042             /* Set controller reference value */
00043             void setRef(double                       f_RefRps);
00044             /* Get controller reference value */
00045             double getRef();
00046             /* Get control value */
00047             double get();
00048             /* Get error */
00049             double getError();
00050             /* Clear PID parameters */
00051             void clear();
00052             /* Control action */
00053             bool control();
00054 
00055         private:
00056             /* PWM onverter */
00057             double converter(double f_u);
00058 
00059             /* Enconder object reference */
00060             encoders::IEncoderGetter&               m_encoder;
00061             /* PID object reference */
00062             ControllerType<double>&                 m_pid;
00063             /* Controller reference */
00064             double                                  m_RefRps;
00065             /* Control value */
00066             double                                  m_u;
00067             /* Error */
00068             double                                  m_error;
00069             /* Converter */
00070             controllers::IConverter*                m_converter;
00071             /* Scaled PWM control signal limits */
00072             const float                                     m_control_sup;
00073             const float                                     m_control_inf;
00074             /* Inferior limit of absolut reference */
00075             const float                                     m_ref_abs_inf;
00076             /* Inferior and superior limits of absolute speed measurment for standing state */
00077             const float                                     m_mes_abs_inf;
00078             const float                                     m_mes_abs_sup;
00079 
00080     };
00081 }; // namespace controllers
00082 
00083 #endif