jordy morsinkhof / MotorThrottle

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Dependencies:   PID QEI_adapted

Fork of MotorThrottle by Bram S

Motor.h@0:aefd03ad04e6, 2017-10-30 (annotated)

Committer:
BramS23
Date:
Mon Oct 30 13:50:58 2017 +0000
Revision:
0:aefd03ad04e6
Changed Homing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BramS23 0:aefd03ad04e6 1 #include "mbed.h"
BramS23 0:aefd03ad04e6 2 #include "QEI.h"
BramS23 0:aefd03ad04e6 3 #include "PID.h"
BramS23 0:aefd03ad04e6 4 /** Motorclass
BramS23 0:aefd03ad04e6 5 Used to control Servo motors
BramS23 0:aefd03ad04e6 6 */
BramS23 0:aefd03ad04e6 7 class Motor{
BramS23 0:aefd03ad04e6 8 public:
BramS23 0:aefd03ad04e6 9 /** Motor class declaration
BramS23 0:aefd03ad04e6 10 @param PWM Pin
BramS23 0:aefd03ad04e6 11 @param Direction Pin
BramS23 0:aefd03ad04e6 12 @param Encoder Pin1
BramS23 0:aefd03ad04e6 13 @param Encoder Pin2
BramS23 0:aefd03ad04e6 14 @param Homingswitch
BramS23 0:aefd03ad04e6 15 @param controller Interval
BramS23 0:aefd03ad04e6 16 */
BramS23 0:aefd03ad04e6 17 Motor(PinName PWM, PinName Direction, PinName Enc1,PinName Enc2,PinName HomingSW,float interval);
BramS23 0:aefd03ad04e6 18
BramS23 0:aefd03ad04e6 19 /** GotoPos function
BramS23 0:aefd03ad04e6 20 This function Sends the motor to the requested Position.
BramS23 0:aefd03ad04e6 21 This Function needs to be called repeadedly since it also
BramS23 0:aefd03ad04e6 22 triggers one tick of the PID controller
BramS23 0:aefd03ad04e6 23 @param The required Position in radians
BramS23 0:aefd03ad04e6 24 */
BramS23 0:aefd03ad04e6 25 void GotoPos(float Rad);
BramS23 0:aefd03ad04e6 26
BramS23 0:aefd03ad04e6 27 /** Outputs the current motor position in radians, while keeping the gear ratio into account
BramS23 0:aefd03ad04e6 28 */
BramS23 0:aefd03ad04e6 29 float GetPos();
BramS23 0:aefd03ad04e6 30
BramS23 0:aefd03ad04e6 31 /** Homes the motor with the homing pin
BramS23 0:aefd03ad04e6 32 @param Direction
BramS23 0:aefd03ad04e6 33 @param PWM value
BramS23 0:aefd03ad04e6 34 @param HomingPosition in radians
BramS23 0:aefd03ad04e6 35 */
BramS23 0:aefd03ad04e6 36 void Homing(bool direction, float PWM, float HomingPos);
BramS23 0:aefd03ad04e6 37
BramS23 0:aefd03ad04e6 38 /** Set the Pid values
BramS23 0:aefd03ad04e6 39 @param Pvalue
BramS23 0:aefd03ad04e6 40 @param Ti
BramS23 0:aefd03ad04e6 41 @param Td
BramS23 0:aefd03ad04e6 42 */
BramS23 0:aefd03ad04e6 43 void SetPID(float P,float Ti,float Td);
BramS23 0:aefd03ad04e6 44
BramS23 0:aefd03ad04e6 45 /** Set the motor gear ratio
BramS23 0:aefd03ad04e6 46 */
BramS23 0:aefd03ad04e6 47 void SetGearRatio(float GearRatio);
BramS23 0:aefd03ad04e6 48
BramS23 0:aefd03ad04e6 49 /** Set the inputlimits, or the allowed Position
BramS23 0:aefd03ad04e6 50 @param InputMinimum
BramS23 0:aefd03ad04e6 51 @param InputMaximum
BramS23 0:aefd03ad04e6 52 */
BramS23 0:aefd03ad04e6 53 void SetInputLimits(float Imin, float Imax);
BramS23 0:aefd03ad04e6 54
BramS23 0:aefd03ad04e6 55 /** Set the output Limits of the PWM
BramS23 0:aefd03ad04e6 56 @param OutputMinimum
BramS23 0:aefd03ad04e6 57 @param OutputMaximum
BramS23 0:aefd03ad04e6 58 */
BramS23 0:aefd03ad04e6 59 void SetOutputLimits(float Omin, float Omax);
BramS23 0:aefd03ad04e6 60
BramS23 0:aefd03ad04e6 61 /** Stops the motor
BramS23 0:aefd03ad04e6 62 */
BramS23 0:aefd03ad04e6 63 void Stop();
BramS23 0:aefd03ad04e6 64
BramS23 0:aefd03ad04e6 65 private:
BramS23 0:aefd03ad04e6 66 QEI encoder;
BramS23 0:aefd03ad04e6 67 float _GearRatio;
BramS23 0:aefd03ad04e6 68
BramS23 0:aefd03ad04e6 69 PwmOut MotorThrottle;
BramS23 0:aefd03ad04e6 70 DigitalOut MotorDirection;
BramS23 0:aefd03ad04e6 71 DigitalIn HomingSwitch;
BramS23 0:aefd03ad04e6 72
BramS23 0:aefd03ad04e6 73 PID controller;
BramS23 0:aefd03ad04e6 74 };