Nicolas Borla / Mbed OS PES2_mbed_os

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Dependencies:   Servo

Controller.h@3:a292bdaf03f6, 2021-03-16 (annotated)

Committer:
boro
Date:
Tue Mar 16 17:28:04 2021 +0100
Revision:
3:a292bdaf03f6
Parent:
0:5d4d21d56334 
controller updated

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 3:a292bdaf03f6 25 static const uint32_t STACK_SIZE = 4096; // stack size of thread, given in [bytes]
boro 0:5d4d21d56334 26 static const float PERIOD;
boro 0:5d4d21d56334 27 static const float COUNTS_PER_TURN;
boro 0:5d4d21d56334 28 static const float LOWPASS_FILTER_FREQUENCY;
boro 0:5d4d21d56334 29 static const float KN;
boro 0:5d4d21d56334 30 static const float KP;
boro 0:5d4d21d56334 31 static const float MAX_VOLTAGE;
boro 0:5d4d21d56334 32 static const float MIN_DUTY_CYCLE;
boro 0:5d4d21d56334 33 static const float MAX_DUTY_CYCLE;
boro 0:5d4d21d56334 34
boro 0:5d4d21d56334 35 PwmOut& pwmLeft;
boro 0:5d4d21d56334 36 PwmOut& pwmRight;
boro 0:5d4d21d56334 37 EncoderCounter& counterLeft;
boro 0:5d4d21d56334 38 EncoderCounter& counterRight;
boro 0:5d4d21d56334 39 short previousValueCounterLeft;
boro 0:5d4d21d56334 40 short previousValueCounterRight;
boro 0:5d4d21d56334 41 LowpassFilter speedLeftFilter;
boro 0:5d4d21d56334 42 LowpassFilter speedRightFilter;
boro 0:5d4d21d56334 43 float desiredSpeedLeft;
boro 0:5d4d21d56334 44 float desiredSpeedRight;
boro 0:5d4d21d56334 45 float actualSpeedLeft;
boro 0:5d4d21d56334 46 float actualSpeedRight;
boro 0:5d4d21d56334 47 float actualAngleLeft;
boro 0:5d4d21d56334 48 float actualAngleRight;
boro 0:5d4d21d56334 49
boro 0:5d4d21d56334 50 ThreadFlag threadFlag;
boro 0:5d4d21d56334 51 Thread thread;
boro 0:5d4d21d56334 52 Ticker ticker;
boro 0:5d4d21d56334 53
boro 0:5d4d21d56334 54 void sendThreadFlag();
boro 0:5d4d21d56334 55 void run();
boro 0:5d4d21d56334 56
boro 0:5d4d21d56334 57 };
boro 0:5d4d21d56334 58
boro 0:5d4d21d56334 59 #endif /* CONTROLLER_H_ */