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Dependencies:   mbed

Controller.h@2:f381fc3a8eaf, 2020-02-26 (annotated)

Committer:
wengefa1
Date:
Wed Feb 26 14:20:16 2020 +0000
Revision:
2:f381fc3a8eaf
Motor Controller added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wengefa1 2:f381fc3a8eaf 1 /*
wengefa1 2:f381fc3a8eaf 2 * Controller.h
wengefa1 2:f381fc3a8eaf 3 * Copyright (c) 2020, ZHAW
wengefa1 2:f381fc3a8eaf 4 * All rights reserved.
wengefa1 2:f381fc3a8eaf 5 */
wengefa1 2:f381fc3a8eaf 6
wengefa1 2:f381fc3a8eaf 7 #ifndef CONTROLLER_H_
wengefa1 2:f381fc3a8eaf 8 #define CONTROLLER_H_
wengefa1 2:f381fc3a8eaf 9
wengefa1 2:f381fc3a8eaf 10 #include <cstdlib>
wengefa1 2:f381fc3a8eaf 11 #include <mbed.h>
wengefa1 2:f381fc3a8eaf 12 #include "EncoderCounter.h"
wengefa1 2:f381fc3a8eaf 13 #include "LowpassFilter.h"
wengefa1 2:f381fc3a8eaf 14
wengefa1 2:f381fc3a8eaf 15 /**
wengefa1 2:f381fc3a8eaf 16 * This class implements a controller that regulates the
wengefa1 2:f381fc3a8eaf 17 * speed of the two motors of the ROME2 mobile robot.
wengefa1 2:f381fc3a8eaf 18 */
wengefa1 2:f381fc3a8eaf 19 class Controller {
wengefa1 2:f381fc3a8eaf 20
wengefa1 2:f381fc3a8eaf 21 public:
wengefa1 2:f381fc3a8eaf 22
wengefa1 2:f381fc3a8eaf 23 Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight);
wengefa1 2:f381fc3a8eaf 24 virtual ~Controller();
wengefa1 2:f381fc3a8eaf 25 void setDesiredSpeedLeft(float desiredSpeedLeft);
wengefa1 2:f381fc3a8eaf 26 void setDesiredSpeedRight(float desiredSpeedRight);
wengefa1 2:f381fc3a8eaf 27 float getSpeedLeft();
wengefa1 2:f381fc3a8eaf 28 float getSpeedRight();
wengefa1 2:f381fc3a8eaf 29 float getDesSpeedLeft();
wengefa1 2:f381fc3a8eaf 30 float getDesSpeedRight();
wengefa1 2:f381fc3a8eaf 31
wengefa1 2:f381fc3a8eaf 32 private:
wengefa1 2:f381fc3a8eaf 33
wengefa1 2:f381fc3a8eaf 34 static const float PERIOD;
wengefa1 2:f381fc3a8eaf 35 static const float COUNTS_PER_TURN;
wengefa1 2:f381fc3a8eaf 36 static const float LOWPASS_FILTER_FREQUENCY;
wengefa1 2:f381fc3a8eaf 37 static const float KN;
wengefa1 2:f381fc3a8eaf 38 static const float KP;
wengefa1 2:f381fc3a8eaf 39 static const float MAX_VOLTAGE;
wengefa1 2:f381fc3a8eaf 40 static const float MIN_DUTY_CYCLE;
wengefa1 2:f381fc3a8eaf 41 static const float MAX_DUTY_CYCLE;
wengefa1 2:f381fc3a8eaf 42
wengefa1 2:f381fc3a8eaf 43 PwmOut& pwmLeft;
wengefa1 2:f381fc3a8eaf 44 PwmOut& pwmRight;
wengefa1 2:f381fc3a8eaf 45 EncoderCounter& counterLeft;
wengefa1 2:f381fc3a8eaf 46 EncoderCounter& counterRight;
wengefa1 2:f381fc3a8eaf 47 short previousValueCounterLeft;
wengefa1 2:f381fc3a8eaf 48 short previousValueCounterRight;
wengefa1 2:f381fc3a8eaf 49 LowpassFilter speedLeftFilter;
wengefa1 2:f381fc3a8eaf 50 LowpassFilter speedRightFilter;
wengefa1 2:f381fc3a8eaf 51 float desiredSpeedLeft;
wengefa1 2:f381fc3a8eaf 52 float desiredSpeedRight;
wengefa1 2:f381fc3a8eaf 53 float actualSpeedLeft;
wengefa1 2:f381fc3a8eaf 54 float actualSpeedRight;
wengefa1 2:f381fc3a8eaf 55 Ticker ticker;
wengefa1 2:f381fc3a8eaf 56
wengefa1 2:f381fc3a8eaf 57 void run();
wengefa1 2:f381fc3a8eaf 58 };
wengefa1 2:f381fc3a8eaf 59
wengefa1 2:f381fc3a8eaf 60 #endif /* CONTROLLER_H_ */
wengefa1 2:f381fc3a8eaf 61