Christian Burri / Mbed 2 deprecated autonomousRobotAndroid

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>

Dependencies:   mbed

Fork of autonomousRobotAndroid by Christian Burri

Actuators/MaxonESCON/MaxonESCON.cpp

Committer:
chrigelburri
Date:
2013-02-07
Revision:
0:31f7be68e52d
Child:
1:6cd533a712c6

File content as of revision 0:31f7be68e52d:

#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;
}
*/