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Dependencies:   mbed Eigen

shared/MD_PID/MD_PID.h.txt@0:ee7e9405e1c7, 2021-04-14 (annotated)

Committer:
e2011220
Date:
Wed Apr 14 07:26:19 2021 +0000
Revision:
0:ee7e9405e1c7
first

Who changed what in which revision?

UserRevisionLine numberNew contents of line
e2011220 0:ee7e9405e1c7 1 #ifndef MD_PID_H_
e2011220 0:ee7e9405e1c7 2 #define MD_PID_H_
e2011220 0:ee7e9405e1c7 3
e2011220 0:ee7e9405e1c7 4 #include <shared/MD/MD.h>
e2011220 0:ee7e9405e1c7 5 #include <shared/QEI/QEI.h>
e2011220 0:ee7e9405e1c7 6 #include <shared/PID_Control/PID_Control.h>
e2011220 0:ee7e9405e1c7 7
e2011220 0:ee7e9405e1c7 8 class MD_PID : public PID_Control
e2011220 0:ee7e9405e1c7 9 {
e2011220 0:ee7e9405e1c7 10 public:
e2011220 0:ee7e9405e1c7 11 MD_PID( MD *md, QEI *qei,
e2011220 0:ee7e9405e1c7 12 double kp = 0, double ki = 0, double kd = 0,
e2011220 0:ee7e9405e1c7 13 double max_speed = 0);
e2011220 0:ee7e9405e1c7 14 virtual void drive(double target, double interval);
e2011220 0:ee7e9405e1c7 15 virtual void brake(double target);
e2011220 0:ee7e9405e1c7 16 virtual void free();
e2011220 0:ee7e9405e1c7 17 void set_max_speed(double max_speed);
e2011220 0:ee7e9405e1c7 18
e2011220 0:ee7e9405e1c7 19 double get_duty();
e2011220 0:ee7e9405e1c7 20
e2011220 0:ee7e9405e1c7 21 private:
e2011220 0:ee7e9405e1c7 22 MD *_md;
e2011220 0:ee7e9405e1c7 23 QEI *_qei;
e2011220 0:ee7e9405e1c7 24 double _duty;
e2011220 0:ee7e9405e1c7 25 double _max_speed;
e2011220 0:ee7e9405e1c7 26
e2011220 0:ee7e9405e1c7 27 double read_vel();
e2011220 0:ee7e9405e1c7 28 };
e2011220 0:ee7e9405e1c7 29
e2011220 0:ee7e9405e1c7 30 #endif