Furkan Cinar / PM2_Libary

Workshop 2

Dependencies:   FastPWM

SpeedController.h@6:41dd03654c44, 2021-04-07 (annotated)

Committer:
pmic
Date:
Wed Apr 07 12:13:45 2021 +0000
Revision:
6:41dd03654c44
Parent:
5:6cd242a61e4c 
Last commit before first workshop 2.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 3:8b42e643b294 1 #ifndef SpeedController_H_
pmic 3:8b42e643b294 2 #define SpeedController_H_
pmic 3:8b42e643b294 3 #include <cstdlib>
pmic 3:8b42e643b294 4 #include <mbed.h>
pmic 3:8b42e643b294 5 #include "EncoderCounter.h"
pmic 3:8b42e643b294 6 #include "LowpassFilter.h"
pmic 3:8b42e643b294 7 #include "ThreadFlag.h"
pmic 5:6cd242a61e4c 8 #include "FastPWM.h"
pmic 3:8b42e643b294 9
pmic 3:8b42e643b294 10 class SpeedController
pmic 3:8b42e643b294 11 {
pmic 3:8b42e643b294 12 public:
pmic 3:8b42e643b294 13
pmic 6:41dd03654c44 14 SpeedController(float counts_per_turn, float kn, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
pmic 6:41dd03654c44 15 SpeedController(float counts_per_turn, float kn, float kp, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
pmic 3:8b42e643b294 16
pmic 3:8b42e643b294 17 virtual ~SpeedController();
pmic 3:8b42e643b294 18
pmic 4:9c003c402033 19 void setDesiredSpeedRPM(float desiredSpeed);
pmic 4:9c003c402033 20 float getSpeedRPM();
pmic 4:9c003c402033 21 void setDesiredSpeedRPS(float desiredSpeed);
pmic 4:9c003c402033 22 float getSpeedRPS();
pmic 3:8b42e643b294 23
pmic 3:8b42e643b294 24 private:
pmic 3:8b42e643b294 25
pmic 6:41dd03654c44 26 static const float TS;
pmic 3:8b42e643b294 27 static const float LOWPASS_FILTER_FREQUENCY;
pmic 3:8b42e643b294 28 static const float MIN_DUTY_CYCLE;
pmic 3:8b42e643b294 29 static const float MAX_DUTY_CYCLE;
pmic 3:8b42e643b294 30
pmic 6:41dd03654c44 31 float counts_per_turn;
pmic 6:41dd03654c44 32 float kn;
pmic 6:41dd03654c44 33 float kp;
pmic 6:41dd03654c44 34 float max_voltage;
pmic 4:9c003c402033 35
pmic 5:6cd242a61e4c 36 FastPWM& pwm;
pmic 3:8b42e643b294 37 EncoderCounter& encoderCounter;
pmic 3:8b42e643b294 38 short previousValueCounter;
pmic 3:8b42e643b294 39 LowpassFilter speedFilter;
pmic 3:8b42e643b294 40 float desiredSpeed;
pmic 3:8b42e643b294 41 float actualSpeed;
pmic 4:9c003c402033 42 // float actualAngle;
pmic 3:8b42e643b294 43
pmic 3:8b42e643b294 44 ThreadFlag threadFlag;
pmic 3:8b42e643b294 45 Thread thread;
pmic 3:8b42e643b294 46 Ticker ticker;
pmic 3:8b42e643b294 47
pmic 6:41dd03654c44 48 void run();
pmic 3:8b42e643b294 49 void sendThreadFlag();
pmic 3:8b42e643b294 50 };
pmic 3:8b42e643b294 51
pmic 3:8b42e643b294 52 #endif /* SpeedController_H_ */