Diff: Motor.h

Revision:

4:5ae9f8b3a16f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h	Tue Nov 24 03:56:22 2015 +0000
@@ -0,0 +1,50 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "Encoder.h"
+#include "HBridge.h"
+#include "CurrentSense.h"
+#include "PID.h"
+
+#ifndef MOTOR_H
+#define MOTOR_H
+
+class Motor {
+    public:
+        Motor(
+            PinName pwm_pin, PinName min_1_pin, PinName min_2_pin, float pwm_period,
+            PinName current_pin,
+            PinName enc_a_pin, PinName enc_b_pin, 
+            float pid_cur_p_gain, float pid_cur_d_gain, float pid_cur_i_gain
+        );
+        
+        float position;
+        float velocity;
+        float current;
+        float torque;
+        float command;
+        
+        // output to PWM
+        float output;
+        
+        // Update all state variables and apply command
+        void update(void);
+        
+        float get_position(void);
+        float get_velocity(void);
+        float get_current(void);
+        
+        // Set current controller commanded value
+        void set_command(float command);
+        
+        //float get_pulse_current(float pulse_time, float pulse_interval);
+    
+    private:
+        Timer timer_;
+        HBridge hbridge_;
+        CurrentSense current_sense_;
+        Encoder encoder_;
+        PIDController current_controller_;
+        
+};
+        
+#endif
\ No newline at end of file