Controller.h

00001 #ifndef CONTROLLER_H_
00002 #define CONTROLLER_H_
00003 #include <cstdlib>
00004 #include <mbed.h>
00005 #include "EncoderCounter.h"
00006 #include "LowpassFilter.h"
00007 
00008 class Controller
00009 {
00010 
00011 public:
00012 
00013     Controller(PwmOut& pwmLeft, PwmOut& pwmRight,
00014                EncoderCounter& counterLeft, EncoderCounter& counterRight);
00015 
00016     virtual ~Controller();
00017     void setDesiredSpeedLeft(float desiredSpeedLeft);
00018     void setDesiredSpeedRight(float desiredSpeedRight);
00019     void resetCounter();
00020     float getSpeedLeft();
00021     float getSpeedRight();
00022     float getIntegralLeft();
00023     float getIntegralRight();
00024     float getProportionalLeft();
00025     float getProportionalRight();
00026 
00027 private:
00028 
00029     static const float PERIOD;
00030     static const float COUNTS_PER_TURN;
00031     static const float LOWPASS_FILTER_FREQUENCY;
00032     static const float KN;
00033     static const float KP;
00034     static const float KI;
00035     static const float I_MAX;    
00036     static const float MAX_VOLTAGE;
00037     static const float MIN_DUTY_CYCLE;
00038     static const float MAX_DUTY_CYCLE;
00039 
00040     PwmOut&            pwmLeft;
00041     PwmOut&            pwmRight;
00042     EncoderCounter&    counterLeft;
00043     EncoderCounter&    counterRight;
00044     short              previousValueCounterLeft;
00045     short              previousValueCounterRight;
00046     LowpassFilter      speedLeftFilter;
00047     LowpassFilter      speedRightFilter;
00048     float              desiredSpeedLeft;
00049     float              desiredSpeedRight;
00050     float              actualSpeedLeft;
00051     float              actualSpeedRight;
00052     float              iSumLeft;
00053     float              iSumRight;
00054     Ticker             ticker;
00055     
00056     void               run();
00057 
00058 };
00059 
00060 #endif /* CONTROLLER_H_ */
00061 
00062 
00063 
00064 
00065