Christian Burri
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 
Christian Burri
Diff: Actuators/MaxonESCON/MaxonESCON.cpp
- Revision:
- 0:31f7be68e52d
- Child:
- 1:6cd533a712c6
diff -r 000000000000 -r 31f7be68e52d Actuators/MaxonESCON/MaxonESCON.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuators/MaxonESCON/MaxonESCON.cpp Thu Feb 07 17:43:19 2013 +0000
@@ -0,0 +1,134 @@
+#include "MaxonESCON.h"
+
+using namespace std;
+
+MaxonESCON::MaxonESCON(
+ PinName enb,
+ PinName isenb,
+ PinName pwm,
+ PinName actualSpeed,
+ Hallsensor *hall
+)
+ :
+ _enb(enb),
+ _isenb(isenb),
+ _pwm(pwm),
+ _actualSpeed(actualSpeed),
+ _hall(hall)
+{
+
+ _pwm = 0;
+
+ // Initial condition of output enables
+ _enb = 0;
+
+ // Set initial condition of PWM 2kHz
+ period(0.0005);
+
+ // Set the pulses to zero
+ _pulses = 0;
+
+ // Set the Pull Up Resistor
+ _isenb.mode(PullUp);
+}
+
+void MaxonESCON::setVelocity(float speed)
+{
+ speed = speed / ESCON_SET_FACTOR * 60.0f;
+ if(speed > 1 ) {
+ _pwm = 0.9f;
+ } else if(speed < -1) {
+ _pwm = 0.1f;
+ } else {
+ _pwm = 0.4f*speed + 0.5f;
+ }
+}
+
+float MaxonESCON::getActualSpeed(void)
+{
+ return (_actualSpeed.read()* 2.0f - 1.0f) * ESCON_GET_FACTOR / 60.0f;
+}
+
+void MaxonESCON::period(float period)
+{
+ _pwm.period(period);
+}
+
+void MaxonESCON::enable(bool enb)
+{
+ if(enb == false) {
+ _enb = 0;
+ } else {
+ _enb = 1;
+ }
+}
+
+bool MaxonESCON::isEnabled()
+{
+ if(_isenb.read() == 1) {
+ return true;
+ } else {
+ return false;
+ }
+ /*
+ if(_enb == 0) {
+ return false;
+ } else {
+ return true;
+ }*/
+}
+
+int MaxonESCON::getPulses(void)
+{
+ _pulses = _hall->getPulses();
+ return _pulses;
+}
+
+int MaxonESCON::setPulses(int setPos)
+{
+ _hall->reset();
+ _pulses = _hall->getPulses();
+ return _pulses;
+}
+
+
+///// Für Polling muss mit unter Code gearbeitet werden.
+
+/*
+int MaxonESCON::getHallPosition(void)
+{
+ return HALL_POSITION[(_hall1.read() ? 1 : 0)+(_hall2.read() ? 2 : 0)+(_hall3.read() ? 4 : 0)];
+}
+
+int MaxonESCON::getPosition(void)
+{
+ position calculation
+
+int actualHallPosition = getHallPosition();
+
+if (actualHallPosition > 0) {
+ if ((actualHallPosition == 1) && (hallPosition >= 5)) {
+ turns++;
+ } else if ((actualHallPosition == 2) && (hallPosition == 6)) {
+ turns++;
+ } else if ((actualHallPosition == 5) && (hallPosition == 1)) {
+ turns--;
+ } else if ((actualHallPosition == 6) && (hallPosition <= 2)) {
+ turns--;
+ }
+ hallPosition = actualHallPosition;
+}
+return turns;
+}
+
+float MaxonESCON::getTransPosition(void)
+{
+return (turns * 2 * _wheelRadius * pi) / (_gear * _polePairs); // PULSES_PER_STEP muss weg da nach 6 hallimpus ein turn gibt
+}
+
+int MaxonESCON::setPosition(int setPos)
+{
+turns = setPos;
+return turns;
+}
+*/