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
Fork of autonomous Robot Android by
ActuatorsSensor/Hallsensor.h@38:d76e488e725f, 2013-06-10 (annotated)
- Committer:
- chrigelburri
- Date:
- Mon Jun 10 08:21:41 2013 +0000
- Revision:
- 38:d76e488e725f
- Parent:
- 15:cb1337567ad4
copyright noch neu hinzugef?gt. Bereit zur Ver?ffentlichung
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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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 |