Christian Burri / Mbed 2 deprecated autonomous Robot Android

This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf

Dependencies:   mbed

Fork of autonomous Robot Android by Christian Burri

Actuators/Hallsensor.h@6:48eeb41188dd, 2013-03-23 (annotated)

Committer:
chrigelburri
Date:
Sat Mar 23 13:52:48 2013 +0000
Revision:
6:48eeb41188dd
Parent:
3:92ba0254af87
Child:
11:775ebb69d5e1
mit link und rechten Radradius

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 3:92ba0254af87 1 #ifndef HALLSENSOR_H
chrigelburri 3:92ba0254af87 2 #define HALLSENSOR_H
chrigelburri 3:92ba0254af87 3
chrigelburri 3:92ba0254af87 4 #include "mbed.h"
chrigelburri 3:92ba0254af87 5
chrigelburri 3:92ba0254af87 6 /**
chrigelburri 3:92ba0254af87 7 * @author Christian Burri
chrigelburri 3:92ba0254af87 8 *
chrigelburri 3:92ba0254af87 9 * @section LICENSE
chrigelburri 3:92ba0254af87 10 *
chrigelburri 3:92ba0254af87 11 * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
chrigelburri 3:92ba0254af87 12 * All rights reserved.
chrigelburri 3:92ba0254af87 13 *
chrigelburri 3:92ba0254af87 14 * @section DESCRIPTION
chrigelburri 3:92ba0254af87 15 *
chrigelburri 3:92ba0254af87 16 * Interface to count the Hallsensor input from a EC-Motor.
chrigelburri 6:48eeb41188dd 17 *
chrigelburri 3:92ba0254af87 18 */
chrigelburri 3:92ba0254af87 19 class Hallsensor
chrigelburri 3:92ba0254af87 20 {
chrigelburri 3:92ba0254af87 21
chrigelburri 6:48eeb41188dd 22 private:
chrigelburri 6:48eeb41188dd 23
chrigelburri 6:48eeb41188dd 24 /**
chrigelburri 6:48eeb41188dd 25 * Update the pulse count.
chrigelburri 6:48eeb41188dd 26 * Called on every rising/falling edge of Hall 1-3.
chrigelburri 6:48eeb41188dd 27 * Reads the state of the channels and determines whether a pulse forward
chrigelburri 6:48eeb41188dd 28 * or backward has occured, updating the count appropriately.
chrigelburri 6:48eeb41188dd 29 */
chrigelburri 6:48eeb41188dd 30 void encode(void);
chrigelburri 6:48eeb41188dd 31
chrigelburri 6:48eeb41188dd 32 InterruptIn hall1_;
chrigelburri 6:48eeb41188dd 33 InterruptIn hall2_;
chrigelburri 6:48eeb41188dd 34 InterruptIn hall3_;
chrigelburri 6:48eeb41188dd 35
chrigelburri 6:48eeb41188dd 36 int prevState_;
chrigelburri 6:48eeb41188dd 37 int currState_;
chrigelburri 6:48eeb41188dd 38
chrigelburri 6:48eeb41188dd 39 volatile int pulses_;
chrigelburri 6:48eeb41188dd 40
chrigelburri 3:92ba0254af87 41 public:
chrigelburri 3:92ba0254af87 42
chrigelburri 3:92ba0254af87 43 /**
chrigelburri 3:92ba0254af87 44 * Constructor of the class <code>Hallsensor</code>.
chrigelburri 3:92ba0254af87 45 *
chrigelburri 3:92ba0254af87 46 * Reads the current values on Hall1 , Hall2 and Hall3 to determine the
chrigelburri 3:92ba0254af87 47 * initial state.
chrigelburri 3:92ba0254af87 48 * Attaches the encode function to the rise/fall interrupt edges of
chrigelburri 3:92ba0254af87 49 * Hall1, Hall2 and Hall3.
chrigelburri 3:92ba0254af87 50 * @param hall1 mbed pin for Hall1 input.
chrigelburri 3:92ba0254af87 51 * @param hall2 mbed pin for Hall2 input.
chrigelburri 3:92ba0254af87 52 * @param hall3 mbed pin for Hall3 input.
chrigelburri 3:92ba0254af87 53 */
chrigelburri 3:92ba0254af87 54 Hallsensor(PinName hall1, PinName hall2, PinName hall3);
chrigelburri 3:92ba0254af87 55
chrigelburri 3:92ba0254af87 56 /**
chrigelburri 3:92ba0254af87 57 * Reset the encoder.
chrigelburri 3:92ba0254af87 58 * Sets the pulses and revolutions count to zero.
chrigelburri 3:92ba0254af87 59 */
chrigelburri 3:92ba0254af87 60 void reset(void);
chrigelburri 3:92ba0254af87 61
chrigelburri 3:92ba0254af87 62 /**
chrigelburri 3:92ba0254af87 63 * Read the number of pulses recorded by the encoder.
chrigelburri 3:92ba0254af87 64 * @return Number of pulses which have occured, given in [count]
chrigelburri 3:92ba0254af87 65 */
chrigelburri 3:92ba0254af87 66 int getPulses(void);
chrigelburri 3:92ba0254af87 67
chrigelburri 3:92ba0254af87 68 /**
chrigelburri 3:92ba0254af87 69 * Read the number of revolutions recorded by the encoder.
chrigelburri 3:92ba0254af87 70 * @return Number of revolutions which have occured on the index channel.
chrigelburri 3:92ba0254af87 71 */
chrigelburri 3:92ba0254af87 72 int getRevolutions(void);
chrigelburri 3:92ba0254af87 73
chrigelburri 3:92ba0254af87 74 };
chrigelburri 3:92ba0254af87 75
chrigelburri 3:92ba0254af87 76 #endif /* Hallsensor_H */