Marco Rubio / Mbed 2 deprecated RTOS_Controller

Controller for Seagoat in the RoboSub competition

Dependencies:   Servo mbed

Fork of ESC by Matteo Terruzzi

esc.h@5:07bbe020eb65, 2016-07-26 (annotated)

Committer:
gelmes
Date:
Tue Jul 26 17:22:33 2016 +0000
Revision:
5:07bbe020eb65
Parent:
1:735702ea5519 
This is a working implementation of the Controller;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MatteoT 0:116260c66d88 1 #ifndef _ESC_H_
MatteoT 0:116260c66d88 2 #define _ESC_H_
MatteoT 0:116260c66d88 3
MatteoT 0:116260c66d88 4 /** ESC class used to controll standard Electronic Speed Controllers for brushless motors of RC models.
MatteoT 0:116260c66d88 5 * Simple usage example:
MatteoT 0:116260c66d88 6 * @code
MatteoT 0:116260c66d88 7 *
MatteoT 0:116260c66d88 8 #include "mbed.h"
MatteoT 0:116260c66d88 9 #include "esc.h" //include the ESC class
MatteoT 0:116260c66d88 10
MatteoT 0:116260c66d88 11
MatteoT 0:116260c66d88 12 int main()
MatteoT 0:116260c66d88 13 {
MatteoT 0:116260c66d88 14 ESC esc1(p26); //declare the ESC as connected to pin p26.
MatteoT 0:116260c66d88 15 float throttle_var = 0.5 //that means 50%.
MatteoT 0:116260c66d88 16
MatteoT 0:116260c66d88 17 while(1)
MatteoT 0:116260c66d88 18 {
MatteoT 0:116260c66d88 19 //... update throttle_var ...
MatteoT 0:116260c66d88 20
MatteoT 0:116260c66d88 21 esc1 = throttle_var; //memorize the throttle value (it doesn't send it to the ESC).
MatteoT 0:116260c66d88 22
MatteoT 0:116260c66d88 23 //... do whatever you want - e.g. call esc1.setThrottle(throttle_var) again ...
MatteoT 0:116260c66d88 24
MatteoT 0:116260c66d88 25 esc1(); //actually sets the throttle to the ESC.
MatteoT 0:116260c66d88 26
MatteoT 0:116260c66d88 27 wait_ms(20); //20ms is the default period of the ESC pwm; the ESC may not run faster.
MatteoT 0:116260c66d88 28 }
MatteoT 0:116260c66d88 29 }
MatteoT 0:116260c66d88 30 * @endcode
MatteoT 0:116260c66d88 31 *
MatteoT 0:116260c66d88 32 * Another example:
MatteoT 0:116260c66d88 33 *
MatteoT 0:116260c66d88 34 * @code
MatteoT 0:116260c66d88 35 *
MatteoT 0:116260c66d88 36 #include "mbed.h"
MatteoT 0:116260c66d88 37 #include "esc.h"
MatteoT 0:116260c66d88 38
MatteoT 0:116260c66d88 39 ESC esc1(PTD4);
MatteoT 0:116260c66d88 40 ESC esc2(PTA12);
MatteoT 0:116260c66d88 41 ESC esc3(PTA4);
MatteoT 0:116260c66d88 42 ESC esc4(PTA5);
MatteoT 0:116260c66d88 43
MatteoT 0:116260c66d88 44 Serial pc(USBTX, USBRX); // tx, rx
MatteoT 0:116260c66d88 45
MatteoT 0:116260c66d88 46 int main() {
MatteoT 0:116260c66d88 47
MatteoT 0:116260c66d88 48 char c;
MatteoT 0:116260c66d88 49 int var = 0;
MatteoT 0:116260c66d88 50
MatteoT 0:116260c66d88 51 while(1) {
MatteoT 0:116260c66d88 52 c = pc.getc();
MatteoT 0:116260c66d88 53
MatteoT 0:116260c66d88 54 if (c == 'u') {
MatteoT 0:116260c66d88 55 if (var < 100) {
MatteoT 0:116260c66d88 56 var++;
MatteoT 0:116260c66d88 57 }
MatteoT 0:116260c66d88 58 if (esc1.setThrottle(var) && esc2.setThrottle(var) && esc3.setThrottle(var) && esc4.setThrottle(var)) {
MatteoT 0:116260c66d88 59 printf("%i\r\n", var);
MatteoT 0:116260c66d88 60 }
MatteoT 0:116260c66d88 61 }
MatteoT 0:116260c66d88 62 else if (c == 'd') {
MatteoT 0:116260c66d88 63 if (var > 0) {
MatteoT 0:116260c66d88 64 var--;
MatteoT 0:116260c66d88 65 }
MatteoT 0:116260c66d88 66 if (esc1.setThrottle(var) && esc2.setThrottle(var) && esc3.setThrottle(var) && esc4.setThrottle(var)) {
MatteoT 0:116260c66d88 67 printf("%i\r\n", var);
MatteoT 0:116260c66d88 68 }
MatteoT 0:116260c66d88 69 }
MatteoT 0:116260c66d88 70 else if (c == 'r') {
MatteoT 0:116260c66d88 71 var = 0;
MatteoT 0:116260c66d88 72 if (esc1.setThrottle(var) && esc2.setThrottle(var) && esc3.setThrottle(var) && esc4.setThrottle(var)) {
MatteoT 0:116260c66d88 73 printf("%i\r\n", var);
MatteoT 0:116260c66d88 74 }
MatteoT 0:116260c66d88 75 }
MatteoT 0:116260c66d88 76
MatteoT 0:116260c66d88 77 esc1.pulse();
MatteoT 0:116260c66d88 78 esc2.pulse();
MatteoT 0:116260c66d88 79 esc3.pulse();
MatteoT 0:116260c66d88 80 esc4.pulse();
MatteoT 0:116260c66d88 81 wait_ms(20); // 20ms is the default period of the ESC pwm
MatteoT 0:116260c66d88 82 }
MatteoT 0:116260c66d88 83 }
MatteoT 0:116260c66d88 84 * @endcode
MatteoT 0:116260c66d88 85 */
MatteoT 0:116260c66d88 86
MatteoT 0:116260c66d88 87 class ESC
MatteoT 0:116260c66d88 88 {
MatteoT 0:116260c66d88 89 private:
MatteoT 0:116260c66d88 90
MatteoT 0:116260c66d88 91 PwmOut esc;
MatteoT 0:116260c66d88 92 int period;
MatteoT 0:116260c66d88 93 int throttle;
MatteoT 0:116260c66d88 94
MatteoT 0:116260c66d88 95 public:
MatteoT 0:116260c66d88 96
MatteoT 0:116260c66d88 97 /** Initializes the PwmOut for minimum throttle (1000us).
MatteoT 0:116260c66d88 98 * @param pwmPinOut is the pin connected to the ESC.
MatteoT 0:116260c66d88 99 * @param period is the PWM period in ms (default is 20ms).
MatteoT 0:116260c66d88 100 */
MatteoT 0:116260c66d88 101 ESC (const PinName pwmPinOut, const int period=20);
MatteoT 0:116260c66d88 102
MatteoT 0:116260c66d88 103 /** Sets the throttle value without output (see pulse()).
MatteoT 0:116260c66d88 104 * @param t in in the range [0.0;1.0]
MatteoT 0:116260c66d88 105 * @return true if throttle value is in range; false otherwise.
MatteoT 0:116260c66d88 106 */
MatteoT 1:735702ea5519 107 bool setThrottle (const float t);
MatteoT 0:116260c66d88 108 ///Alias of setThrottle(float)
MatteoT 1:735702ea5519 109 bool operator= (const float t);
MatteoT 0:116260c66d88 110
MatteoT 0:116260c66d88 111 /** Get the last setted throttle value
MatteoT 0:116260c66d88 112 * @return throttle in range [0.0-1.0].
MatteoT 0:116260c66d88 113 */
MatteoT 1:735702ea5519 114 float getThrottle () const;
MatteoT 0:116260c66d88 115 ///Alias of getThrottle()
MatteoT 1:735702ea5519 116 operator float () const;
MatteoT 0:116260c66d88 117
MatteoT 0:116260c66d88 118 /** Output the throttle value to the ESC.
MatteoT 0:116260c66d88 119 */
MatteoT 1:735702ea5519 120 void pulse ();
MatteoT 0:116260c66d88 121 ///Alias of pulse()
MatteoT 1:735702ea5519 122 void operator() ();
MatteoT 0:116260c66d88 123 };
MatteoT 0:116260c66d88 124
MatteoT 0:116260c66d88 125 #endif