Furkan Cinar
Workshop 2
SpeedController.h@4:9c003c402033, 2021-04-06 (annotated)
- Committer:
- pmic
- Date:
- Tue Apr 06 11:21:54 2021 +0000
- Revision:
- 4:9c003c402033
- Parent:
- 3:8b42e643b294
- Child:
- 5:6cd242a61e4c
Update Libary via copy+past, no idea why it is not working via mbed studio.
Who changed what in which revision?
| User | Revision | Line number | New 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 | 3:8b42e643b294 | 8 | |
| pmic | 3:8b42e643b294 | 9 | class SpeedController |
| pmic | 3:8b42e643b294 | 10 | { |
| pmic | 3:8b42e643b294 | 11 | public: |
| pmic | 3:8b42e643b294 | 12 | |
| pmic | 4:9c003c402033 | 13 | SpeedController(float COUNTS_PER_TURN, float KN, float KP, float MAX_VOLTAGE, PwmOut& pwm, EncoderCounter& encoderCounter); |
| pmic | 3:8b42e643b294 | 14 | |
| pmic | 3:8b42e643b294 | 15 | virtual ~SpeedController(); |
| pmic | 3:8b42e643b294 | 16 | |
| pmic | 4:9c003c402033 | 17 | void setDesiredSpeedRPM(float desiredSpeed); |
| pmic | 4:9c003c402033 | 18 | float getSpeedRPM(); |
| pmic | 4:9c003c402033 | 19 | void setDesiredSpeedRPS(float desiredSpeed); |
| pmic | 4:9c003c402033 | 20 | float getSpeedRPS(); |
| pmic | 3:8b42e643b294 | 21 | |
| pmic | 3:8b42e643b294 | 22 | private: |
| pmic | 3:8b42e643b294 | 23 | |
| pmic | 3:8b42e643b294 | 24 | static const float PERIOD; |
| pmic | 4:9c003c402033 | 25 | // static const float COUNTS_PER_TURN; |
| pmic | 3:8b42e643b294 | 26 | static const float LOWPASS_FILTER_FREQUENCY; |
| pmic | 4:9c003c402033 | 27 | // static const float KN; |
| pmic | 4:9c003c402033 | 28 | // static const float KP; |
| pmic | 4:9c003c402033 | 29 | // static const float MAX_VOLTAGE; |
| pmic | 3:8b42e643b294 | 30 | static const float MIN_DUTY_CYCLE; |
| pmic | 3:8b42e643b294 | 31 | static const float MAX_DUTY_CYCLE; |
| pmic | 3:8b42e643b294 | 32 | |
| pmic | 4:9c003c402033 | 33 | float COUNTS_PER_TURN; |
| pmic | 4:9c003c402033 | 34 | float KN; |
| pmic | 4:9c003c402033 | 35 | float KP; |
| pmic | 4:9c003c402033 | 36 | float MAX_VOLTAGE; |
| pmic | 4:9c003c402033 | 37 | |
| pmic | 3:8b42e643b294 | 38 | PwmOut& pwm; |
| pmic | 3:8b42e643b294 | 39 | EncoderCounter& encoderCounter; |
| pmic | 3:8b42e643b294 | 40 | short previousValueCounter; |
| pmic | 3:8b42e643b294 | 41 | LowpassFilter speedFilter; |
| pmic | 3:8b42e643b294 | 42 | float desiredSpeed; |
| pmic | 3:8b42e643b294 | 43 | float actualSpeed; |
| pmic | 4:9c003c402033 | 44 | // float actualAngle; |
| pmic | 3:8b42e643b294 | 45 | |
| pmic | 3:8b42e643b294 | 46 | ThreadFlag threadFlag; |
| pmic | 3:8b42e643b294 | 47 | Thread thread; |
| pmic | 3:8b42e643b294 | 48 | Ticker ticker; |
| pmic | 3:8b42e643b294 | 49 | |
| pmic | 3:8b42e643b294 | 50 | void sendThreadFlag(); |
| pmic | 3:8b42e643b294 | 51 | void run(); |
| pmic | 3:8b42e643b294 | 52 | }; |
| pmic | 3:8b42e643b294 | 53 | |
| pmic | 3:8b42e643b294 | 54 | #endif /* SpeedController_H_ */ |