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
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Diff: Actuators/MaxonESCON.h
- Revision:
- 6:48eeb41188dd
- Parent:
- 3:92ba0254af87
- Child:
- 11:775ebb69d5e1
diff -r 48a258f6335e -r 48eeb41188dd Actuators/MaxonESCON.h --- a/Actuators/MaxonESCON.h Thu Mar 21 08:56:53 2013 +0000 +++ b/Actuators/MaxonESCON.h Sat Mar 23 13:52:48 2013 +0000 @@ -42,12 +42,12 @@ public: /** Create a motor control object. - * @param enb DigitalOut, set high for enable - * @param isenb DigitalIn, high for enable - * @param pwm PwmOut pin, set the velocity - * @param actualSpeed AnalogIn filtered signal for ActualSpeed from Motor - * @param hall The object of the hallsensor from Motor - */ + * @param enb DigitalOut, set high for enable + * @param isenb DigitalIn, high for enable + * @param pwm PwmOut pin, set the velocity + * @param actualSpeed AnalogIn filtered signal for ActualSpeed from Motor + * @param hall The object of the hallsensor from Motor + */ MaxonESCON(PinName enb, PinName isenb, PinName pwm, @@ -55,42 +55,43 @@ Hallsensor *hall); /** Set the speed of the motor with a pwm for 10%..90%. - * 50% PWM is 0rpm. - * Caclulate from [1/s] in [1/min] and the Factor of the ESCON. - * @param speed The speed of the motor as a normalised value, given in [1/s] - */ + * 50% PWM is 0rpm. + * Caclulate from [1/s] in [1/min] and the Factor of the ESCON. + * @param speed The speed of the motor as a normalised value, given in [1/s] + */ void setVelocity(float speed); /**Return the speed from ESCON. - * 0 rpm is defined in the Analog input as 1.65V - * @return speed of the motor, given in [1/s] - */ + * 0 rpm is defined in the Analog input as 1.65V + * @return speed of the motor, given in [1/s] + */ float getActualSpeed(void); /** Set the period of the pwm duty cycle. - * Wrapper for PwmOut::period() - * @param period Pwm duty cycle, given in [s]. - */ + * Wrapper for PwmOut::period() + * @param period Pwm duty cycle, given in [s]. + */ void period(float period); /** Set the Motor to a enable sate. - * @param enb <code>false</code> for disable <code>true</code> for enable. - */ + * @param enb <code>false</code> for disable <code>true</code> for enable. + */ void enable(bool enb); /**Tests if the servo drive is enabled. - * @return <code>true</code> if the drive is enabled, <code>false</code> otherwise. - */ + * @return <code>true</code> if the drive is enabled, + * <code>false</code> otherwise. + */ bool isEnabled(void); /** Return the number of Pulses. - * @return Pulses, given in [count] - */ + * @return Pulses, given in [count] + */ int getPulses(void); /** Set the Pulses of the Motor, given in [count] - * @return Pulses, given in [count] - */ + * @return Pulses, given in [count] + */ int setPulses(int setPos); };