Diff: robotic_fish_6/BuoyancyControlUnit/BuoyancyControlUnit.h

Revision:

0:c3a329a5b05d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robotic_fish_6/BuoyancyControlUnit/BuoyancyControlUnit.h	Tue Jan 14 19:17:05 2020 +0000
@@ -0,0 +1,111 @@
+
+/*
+ * BuoyancyControlUnit.h
+ *
+ * Author: Cyndia Cao, Robert Katzschmann
+ */
+
+#ifndef BUOYANCYCONTROLUNIT_H_
+#define BUOYANCYCONTROLUNIT_H_
+
+#include "mbed.h"
+#include "MS5837/MS5837.h"
+#include "QEI/QEI.h"
+
+
+//#define bcuPwmPin p25
+#define bcuDirAPin p24 //now serves as bcuPWMAPin
+#define bcuDirBPin p25 //now serves as bcuPWMBPin
+#define wiperPin p17   // BCU potentiometer wiper 
+//#define bcuCurrentPin p20
+
+#define encoderPinA p16
+#define encoderPinB p17
+#define count2rev 12 //https://www.pololu.com/product/3081/blog
+#define gearRatio 75 // need to check
+
+#define PIN_IMU_TX p28
+#define PIN_IMU_RX p27
+
+//#define maxBCUCurrent 0.5 // need to measure
+//#define minBCUCurrent 0.1 // need to measure
+
+#define KpDepth 5 // random dummy val
+#define KdDepth 0.0 // ignore for now; start with P control
+#define KiDepth 0.0
+
+#define KpEnc 0.0005
+#define KdEnc 0.00003
+#define KiEnc 0.000000000
+
+
+class BuoyancyControlUnit
+{
+public:
+	// Initialization
+	BuoyancyControlUnit();
+	void start();
+	void stop();
+	void set(float depthDesIn);
+	void setDepthFunc(float depthDesIn);
+	void setEncoderPosition(float setPosIn);
+	void setV(float Vin);
+
+	void setDepthFuncVoid();
+	void setEncoderPosVoid();
+
+	void returnToZero();
+	void runBackwards();
+	void runForwards();
+
+	bool getBCUdir();
+	float getVset();
+	float getSetPos();
+	float getCurPos();
+	float getCurDepth();
+	float getSetDepth();
+	float readPressure();
+
+private:
+	volatile bool resetFlag;
+	volatile bool inDepthLoop;
+	volatile bool inPosLoop;
+
+	volatile float setDepth;
+	volatile float curDepth;
+	volatile bool bcuDir;
+
+	volatile float posRef;
+	volatile float depthErr;
+	volatile float prevDepthErr;
+	volatile float depthDer;
+	volatile float depthInt;
+	volatile float depthLastTime;
+
+	volatile float setPos;
+	volatile float curPos;
+
+	volatile float VRef;
+	volatile float posErr;
+	volatile float prevPosErr;
+	volatile float posDer;
+	volatile float posInt;
+	volatile float posLastTime;
+
+	Timer timer;
+	//PwmOut bcuPWM;
+	PwmOut bcuDirA;
+	PwmOut bcuDirB;
+	AnalogIn wiper;
+//	AnalogIn bcuCurrent; // actually is a voltage value proportional to current
+//	QEI bcuEncoder;
+	MS5837 pressureSensor;
+
+	Ticker depthControl;
+	Ticker posControl;
+};
+
+// Create a static instance of BuoyancyControlUnit to be used by anyone controlling the Buoyancy Control Unit
+extern BuoyancyControlUnit buoyancyControlUnit;
+
+#endif /* BUOYANCYCONTROLUNIT_H_ */