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Dependencies:   mbed Eigen

shared/MD_PID/MD_PID.h@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 "PID.h"
e2011220 0:ee7e9405e1c7 7 #include "PPID.h"
e2011220 0:ee7e9405e1c7 8 #include "PI_D.h"
e2011220 0:ee7e9405e1c7 9
e2011220 0:ee7e9405e1c7 10 class MD_PID
e2011220 0:ee7e9405e1c7 11 {
e2011220 0:ee7e9405e1c7 12 public:
e2011220 0:ee7e9405e1c7 13 MD_PID( MD *md, QEI *qei,
e2011220 0:ee7e9405e1c7 14 double k = 0, double ti = 0, double td = 0,
e2011220 0:ee7e9405e1c7 15 double max_speed = 0);
e2011220 0:ee7e9405e1c7 16 virtual void drive(double target, double interval);
e2011220 0:ee7e9405e1c7 17 virtual void brake(double target);
e2011220 0:ee7e9405e1c7 18 virtual void free();
e2011220 0:ee7e9405e1c7 19 void set_max_speed(double max_speed);
e2011220 0:ee7e9405e1c7 20
e2011220 0:ee7e9405e1c7 21 double get_duty();
e2011220 0:ee7e9405e1c7 22
e2011220 0:ee7e9405e1c7 23 private:
e2011220 0:ee7e9405e1c7 24 MD *_md;
e2011220 0:ee7e9405e1c7 25 QEI *_qei;
e2011220 0:ee7e9405e1c7 26 PID *_pid;
e2011220 0:ee7e9405e1c7 27 double _duty;
e2011220 0:ee7e9405e1c7 28 double _max_speed;
e2011220 0:ee7e9405e1c7 29
e2011220 0:ee7e9405e1c7 30 double read_vel();
e2011220 0:ee7e9405e1c7 31 };
e2011220 0:ee7e9405e1c7 32
e2011220 0:ee7e9405e1c7 33 #endif