Controller.h

00001 /*
00002  * Controller.h
00003  * Copyright (c) 2018, ZHAW
00004  * All rights reserved.
00005  */
00006 
00007 #ifndef CONTROLLER_H_
00008 #define CONTROLLER_H_
00009 
00010 #include <cstdlib>
00011 #include <mbed.h>
00012 #include "EncoderCounter.h"
00013 #include "Motion.h"
00014 #include "LowpassFilter.h"
00015 #include "Signal.h"
00016 
00017 /**
00018  * This class implements the coordinate transformation, speed control and
00019  * the position estimation of a mobile robot with differential drive.
00020  */
00021 class Controller {
00022 
00023     public:
00024     
00025                     Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight);
00026         virtual     ~Controller();
00027         void        setTranslationalVelocity(float velocity);
00028         void        setRotationalVelocity(float velocity);
00029         float       getActualTranslationalVelocity();
00030         float       getActualRotationalVelocity();
00031         void        setX(float x);
00032         float       getX();
00033         void        setY(float y);
00034         float       getY();
00035         void        setAlpha(float alpha);
00036         float       getAlpha();
00037         float       getangleRight();
00038         float       getangleLeft();
00039         void        startMeasure();
00040         
00041     private:
00042         
00043         static const uint32_t   STACK_SIZE = 4096;  // stack size of thread, given in [bytes]
00044         static const float  PERIOD;
00045         static const float  PI;
00046         static const float  WHEEL_DISTANCE;
00047         static const float  WHEEL_RADIUS;
00048         static const float  COUNTS_PER_TURN;
00049         static const float  LOWPASS_FILTER_FREQUENCY;
00050         static const float  KN;
00051         static const float  KP;
00052         static const float  MAX_VOLTAGE;
00053         static const float  MIN_DUTY_CYCLE;
00054         static const float  MAX_DUTY_CYCLE;
00055         
00056         PwmOut&             pwmLeft;
00057         PwmOut&             pwmRight;
00058         EncoderCounter&     counterLeft;
00059         EncoderCounter&     counterRight;
00060         Motion              translationalMotion;
00061         Motion              rotationalMotion;
00062         float               translationalVelocity;
00063         float               rotationalVelocity;
00064         float               actualTranslationalVelocity;
00065         float               actualRotationalVelocity;
00066         short               previousValueCounterLeft;
00067         short               previousValueCounterRight;
00068         LowpassFilter       speedLeftFilter;
00069         LowpassFilter       speedRightFilter;
00070         float               desiredSpeedLeft;
00071         float               desiredSpeedRight;
00072         float               actualSpeedLeft;
00073         float               actualSpeedRight;
00074         float               actualAngleRight;
00075         float               actualAngleLeft;
00076         float               x;
00077         float               y;
00078         float               alpha;
00079         Signal              signal;
00080         Thread              thread;
00081         Ticker              ticker;
00082         bool                startMeasurement;
00083         
00084         void        sendSignal();
00085         void                run();
00086 };
00087 
00088 #endif /* CONTROLLER_H_ */
00089 
00090