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

ActuatorsSensor/Hallsensor.h@39:a4fd6206da89, 2013-06-10 (annotated)

Committer:
chrigelburri
Date:
Mon Jun 10 14:40:37 2013 +0000
Revision:
39:a4fd6206da89
Parent:
38:d76e488e725f 
V1.0

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 38:d76e488e725f 9 * @copyright Copyright (c) 2013 HSLU Pren Team #1 Cruising Crêpe
chrigelburri 3:92ba0254af87 10 * All rights reserved.
chrigelburri 3:92ba0254af87 11 *
chrigelburri 11:775ebb69d5e1 12 * @brief
chrigelburri 3:92ba0254af87 13 *
chrigelburri 15:cb1337567ad4 14 * Interface to count the Hallsensor input from an EC-Motor.
chrigelburri 6:48eeb41188dd 15 *
chrigelburri 38:d76e488e725f 16 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
chrigelburri 38:d76e488e725f 17 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
chrigelburri 38:d76e488e725f 18 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
chrigelburri 38:d76e488e725f 19 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
chrigelburri 38:d76e488e725f 20 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
chrigelburri 38:d76e488e725f 21 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
chrigelburri 38:d76e488e725f 22 * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
chrigelburri 3:92ba0254af87 23 */
chrigelburri 3:92ba0254af87 24 class Hallsensor
chrigelburri 3:92ba0254af87 25 {
chrigelburri 3:92ba0254af87 26
chrigelburri 6:48eeb41188dd 27 private:
chrigelburri 6:48eeb41188dd 28
chrigelburri 6:48eeb41188dd 29 /**
chrigelburri 11:775ebb69d5e1 30 * @brief Update the pulse count.
chrigelburri 6:48eeb41188dd 31 * Called on every rising/falling edge of Hall 1-3.
chrigelburri 6:48eeb41188dd 32 * Reads the state of the channels and determines whether a pulse forward
chrigelburri 6:48eeb41188dd 33 * or backward has occured, updating the count appropriately.
chrigelburri 6:48eeb41188dd 34 */
chrigelburri 6:48eeb41188dd 35 void encode(void);
chrigelburri 6:48eeb41188dd 36
chrigelburri 6:48eeb41188dd 37 InterruptIn hall1_;
chrigelburri 6:48eeb41188dd 38 InterruptIn hall2_;
chrigelburri 6:48eeb41188dd 39 InterruptIn hall3_;
chrigelburri 6:48eeb41188dd 40
chrigelburri 6:48eeb41188dd 41 int prevState_;
chrigelburri 6:48eeb41188dd 42 int currState_;
chrigelburri 6:48eeb41188dd 43
chrigelburri 6:48eeb41188dd 44 volatile int pulses_;
chrigelburri 6:48eeb41188dd 45
chrigelburri 3:92ba0254af87 46 public:
chrigelburri 3:92ba0254af87 47
chrigelburri 3:92ba0254af87 48 /**
chrigelburri 11:775ebb69d5e1 49 * @brief Constructor of the class <code>Hallsensor</code>.
chrigelburri 3:92ba0254af87 50 *
chrigelburri 15:cb1337567ad4 51 * Reads the current values on Hall1, Hall2 and Hall3 to determine the
chrigelburri 3:92ba0254af87 52 * initial state.
chrigelburri 3:92ba0254af87 53 * Attaches the encode function to the rise/fall interrupt edges of
chrigelburri 3:92ba0254af87 54 * Hall1, Hall2 and Hall3.
chrigelburri 3:92ba0254af87 55 * @param hall1 mbed pin for Hall1 input.
chrigelburri 3:92ba0254af87 56 * @param hall2 mbed pin for Hall2 input.
chrigelburri 3:92ba0254af87 57 * @param hall3 mbed pin for Hall3 input.
chrigelburri 3:92ba0254af87 58 */
chrigelburri 3:92ba0254af87 59 Hallsensor(PinName hall1, PinName hall2, PinName hall3);
chrigelburri 3:92ba0254af87 60
chrigelburri 3:92ba0254af87 61 /**
chrigelburri 11:775ebb69d5e1 62 * @brief Reset the encoder.
chrigelburri 3:92ba0254af87 63 * Sets the pulses and revolutions count to zero.
chrigelburri 3:92ba0254af87 64 */
chrigelburri 3:92ba0254af87 65 void reset(void);
chrigelburri 3:92ba0254af87 66
chrigelburri 3:92ba0254af87 67 /**
chrigelburri 11:775ebb69d5e1 68 * @brief Read the number of pulses recorded by the encoder.
chrigelburri 3:92ba0254af87 69 * @return Number of pulses which have occured, given in [count]
chrigelburri 3:92ba0254af87 70 */
chrigelburri 3:92ba0254af87 71 int getPulses(void);
chrigelburri 3:92ba0254af87 72
chrigelburri 3:92ba0254af87 73 /**
chrigelburri 11:775ebb69d5e1 74 * @brief Read the number of revolutions recorded by the encoder.
chrigelburri 3:92ba0254af87 75 * @return Number of revolutions which have occured on the index channel.
chrigelburri 3:92ba0254af87 76 */
chrigelburri 3:92ba0254af87 77 int getRevolutions(void);
chrigelburri 3:92ba0254af87 78
chrigelburri 3:92ba0254af87 79 };
chrigelburri 3:92ba0254af87 80
chrigelburri 12:235e318a414f 81 #endif