Nicolas Borla / Mbed OS PES2_mbed_os

PES2_mbed_os_6

Dependencies:   Servo

Controller.h@0:5d4d21d56334, 2021-03-12 (annotated)

Committer:
boro
Date:
Fri Mar 12 13:04:33 2021 +0000
Revision:
0:5d4d21d56334
Child:
3:a292bdaf03f6
controller added;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
boro 0:5d4d21d56334 1 #ifndef CONTROLLER_H_
boro 0:5d4d21d56334 2 #define CONTROLLER_H_
boro 0:5d4d21d56334 3 #include <cstdlib>
boro 0:5d4d21d56334 4 #include <mbed.h>
boro 0:5d4d21d56334 5 #include "EncoderCounter.h"
boro 0:5d4d21d56334 6 #include "LowpassFilter.h"
boro 0:5d4d21d56334 7 #include "ThreadFlag.h"
boro 0:5d4d21d56334 8
boro 0:5d4d21d56334 9 class Controller
boro 0:5d4d21d56334 10 {
boro 0:5d4d21d56334 11
boro 0:5d4d21d56334 12 public:
boro 0:5d4d21d56334 13
boro 0:5d4d21d56334 14 Controller(PwmOut& pwmLeft, PwmOut& pwmRight,
boro 0:5d4d21d56334 15 EncoderCounter& counterLeft, EncoderCounter& counterRight);
boro 0:5d4d21d56334 16
boro 0:5d4d21d56334 17 virtual ~Controller();
boro 0:5d4d21d56334 18 void setDesiredSpeedLeft(float desiredSpeedLeft);
boro 0:5d4d21d56334 19 void setDesiredSpeedRight(float desiredSpeedRight);
boro 0:5d4d21d56334 20 float getSpeedLeft();
boro 0:5d4d21d56334 21 float getSpeedRight();
boro 0:5d4d21d56334 22
boro 0:5d4d21d56334 23 private:
boro 0:5d4d21d56334 24
boro 0:5d4d21d56334 25 static const float PERIOD;
boro 0:5d4d21d56334 26 static const float COUNTS_PER_TURN;
boro 0:5d4d21d56334 27 static const float LOWPASS_FILTER_FREQUENCY;
boro 0:5d4d21d56334 28 static const float KN;
boro 0:5d4d21d56334 29 static const float KP;
boro 0:5d4d21d56334 30 static const float MAX_VOLTAGE;
boro 0:5d4d21d56334 31 static const float MIN_DUTY_CYCLE;
boro 0:5d4d21d56334 32 static const float MAX_DUTY_CYCLE;
boro 0:5d4d21d56334 33
boro 0:5d4d21d56334 34 PwmOut& pwmLeft;
boro 0:5d4d21d56334 35 PwmOut& pwmRight;
boro 0:5d4d21d56334 36 EncoderCounter& counterLeft;
boro 0:5d4d21d56334 37 EncoderCounter& counterRight;
boro 0:5d4d21d56334 38 short previousValueCounterLeft;
boro 0:5d4d21d56334 39 short previousValueCounterRight;
boro 0:5d4d21d56334 40 LowpassFilter speedLeftFilter;
boro 0:5d4d21d56334 41 LowpassFilter speedRightFilter;
boro 0:5d4d21d56334 42 float desiredSpeedLeft;
boro 0:5d4d21d56334 43 float desiredSpeedRight;
boro 0:5d4d21d56334 44 float actualSpeedLeft;
boro 0:5d4d21d56334 45 float actualSpeedRight;
boro 0:5d4d21d56334 46 float actualAngleLeft;
boro 0:5d4d21d56334 47 float actualAngleRight;
boro 0:5d4d21d56334 48
boro 0:5d4d21d56334 49 ThreadFlag threadFlag;
boro 0:5d4d21d56334 50 Thread thread;
boro 0:5d4d21d56334 51 Ticker ticker;
boro 0:5d4d21d56334 52
boro 0:5d4d21d56334 53 void sendThreadFlag();
boro 0:5d4d21d56334 54 void run();
boro 0:5d4d21d56334 55
boro 0:5d4d21d56334 56 };
boro 0:5d4d21d56334 57
boro 0:5d4d21d56334 58 #endif /* CONTROLLER_H_ */