Christian Burri
This program is for an autonomous robot for the competition at the Hochschule Luzern. We are one of the 32 teams. <a href="http://cruisingcrepe.wordpress.com/">http://cruisingcrepe.wordpress.com/</a> 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: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
Fork of
autonomousRobotAndroid
by 
Christian Burri
Diff: Actuators/MaxonESCON.cpp
- Revision:
- 3:92ba0254af87
- Parent:
- 2:d8e1613dc38b
- Child:
- 6:48eeb41188dd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuators/MaxonESCON.cpp Thu Mar 07 09:47:07 2013 +0000
@@ -0,0 +1,86 @@
+#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 = 1;
+ } else {
+ _enb = 0;
+ }
+}
+
+bool MaxonESCON::isEnabled()
+{
+ if(_isenb.read() == 1) {
+ return true;
+ } else {
+ return false;
+ }
+}
+
+int MaxonESCON::getPulses(void)
+{
+ _pulses = _hall->getPulses();
+ return _pulses;
+}
+
+int MaxonESCON::setPulses(int setPos)
+{
+ _hall->reset();
+ _pulses = _hall->getPulses();
+ return _pulses;
+}