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PES2_mbed_os_6
Controller.h
- Committer:
- boro
- Date:
- 2021-03-12
- Revision:
- 0:5d4d21d56334
- Child:
- 3:a292bdaf03f6
File content as of revision 0:5d4d21d56334:
#ifndef CONTROLLER_H_ #define CONTROLLER_H_ #include <cstdlib> #include <mbed.h> #include "EncoderCounter.h" #include "LowpassFilter.h" #include "ThreadFlag.h" class Controller { public: Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight); virtual ~Controller(); void setDesiredSpeedLeft(float desiredSpeedLeft); void setDesiredSpeedRight(float desiredSpeedRight); float getSpeedLeft(); float getSpeedRight(); private: static const float PERIOD; static const float COUNTS_PER_TURN; static const float LOWPASS_FILTER_FREQUENCY; static const float KN; static const float KP; static const float MAX_VOLTAGE; static const float MIN_DUTY_CYCLE; static const float MAX_DUTY_CYCLE; PwmOut& pwmLeft; PwmOut& pwmRight; EncoderCounter& counterLeft; EncoderCounter& counterRight; short previousValueCounterLeft; short previousValueCounterRight; LowpassFilter speedLeftFilter; LowpassFilter speedRightFilter; float desiredSpeedLeft; float desiredSpeedRight; float actualSpeedLeft; float actualSpeedRight; float actualAngleLeft; float actualAngleRight; ThreadFlag threadFlag; Thread thread; Ticker ticker; void sendThreadFlag(); void run(); }; #endif /* CONTROLLER_H_ */