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 #include "ThreadFlag.h"
00008 
00009 class Controller
00010 {
00011 
00012 public:
00013 
00014     Controller(PwmOut& pwmLeft, PwmOut& pwmRight,
00015                EncoderCounter& counterLeft, EncoderCounter& counterRight);
00016 
00017     virtual ~Controller();
00018     void setDesiredSpeedLeft(float desiredSpeedLeft);
00019     void setDesiredSpeedRight(float desiredSpeedRight);
00020     float getSpeedLeft();
00021     float getSpeedRight();
00022 
00023 private:
00024 
00025     static const uint32_t   STACK_SIZE = 4096;  // stack size of thread, given in [bytes]
00026     static const float PERIOD;
00027     static const float COUNTS_PER_TURN;
00028     static const float LOWPASS_FILTER_FREQUENCY;
00029     static const float KN;
00030     static const float KP;   
00031     static const float MAX_VOLTAGE;
00032     static const float MIN_DUTY_CYCLE;
00033     static const float MAX_DUTY_CYCLE;
00034 
00035     PwmOut&            pwmLeft;
00036     PwmOut&            pwmRight;
00037     EncoderCounter&    counterLeft;
00038     EncoderCounter&    counterRight;
00039     short              previousValueCounterLeft;
00040     short              previousValueCounterRight;
00041     LowpassFilter      speedLeftFilter;
00042     LowpassFilter      speedRightFilter;
00043     float              desiredSpeedLeft;
00044     float              desiredSpeedRight;
00045     float              actualSpeedLeft;
00046     float              actualSpeedRight;
00047     float               actualAngleLeft;
00048     float               actualAngleRight;
00049     
00050     ThreadFlag          threadFlag;
00051     Thread              thread;
00052     Ticker              ticker;
00053     
00054     void                sendThreadFlag();
00055     void                run();
00056 
00057 };
00058 
00059 #endif /* CONTROLLER_H_ */