v1
Diff: motor.h
- Revision:
- 5:15d0276d7e21
- Parent:
- 4:a629f46d6594
- Child:
- 6:366ec55e64fe
--- a/motor.h Thu May 23 23:02:14 2019 +0000 +++ b/motor.h Tue Jun 25 11:01:39 2019 +0000 @@ -15,6 +15,8 @@ ~MotorCtl(); int getRPM(); + float CalculateCumDis(); + float CalculateRelaDis(); int getTarget(); int getError(); float getKP(); @@ -28,6 +30,7 @@ void setPID(float p, float i, float d); void setDirection(); // set the direction + //Control Methods void UpdateCurrentPosition(); void PIDControl(); @@ -42,9 +45,9 @@ DigitalInOut _tachoB; Ticker _tick; - long CurrentPosition, PreviousPosition; // Position Value + long CurrentPosition, PreviousPosition, DistancePosition; // Position Value int CurrentSpeed, Error,PreviousError; // Speed Data - unsigned int duty; // Duty level ( 0-1024) + float duty; // Duty level ( 0-1024) unsigned int pwmPeriod; // default 50ms unsigned char pwmpin; // PB2 ( 10 ) unsigned char ppin, npin,dr; // dr =10 means ccwise, dr=0 means clockwise @@ -55,6 +58,7 @@ int integ, derv,control,cw0[MaxBuf]; unsigned char cpidx; float CalculateRPM(int DeltaCnt); // Calculate RPM value + float vel; int TargetSpeed;