Kim Bruil / Mbed 2 deprecated r_robot

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Dependencies:   MODSERIAL mbed EMG_Input QEI biquadFilter

Motor/motor.h@9:19dafcb4a098, 2016-10-27 (annotated)

Committer:
kbruil
Date:
Thu Oct 27 19:36:12 2016 +0000
Revision:
9:19dafcb4a098
Child:
10:27fdd43f3b85
Robot PID cleaned up a bit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kbruil 9:19dafcb4a098 1 #include "mbed.h"
kbruil 9:19dafcb4a098 2 #include "QEI.h"
kbruil 9:19dafcb4a098 3 #include "BiQuad.h"
kbruil 9:19dafcb4a098 4 #ifndef M_PI
kbruil 9:19dafcb4a098 5 #define M_PI 3.141592653589793238462643383279502884L // Pi
kbruil 9:19dafcb4a098 6 #endif
kbruil 9:19dafcb4a098 7
kbruil 9:19dafcb4a098 8 class motor {
kbruil 9:19dafcb4a098 9 private:
kbruil 9:19dafcb4a098 10 DigitalOut pwm; // pwm port
kbruil 9:19dafcb4a098 11 DigitalOut dir; // direction port
kbruil 9:19dafcb4a098 12 QEI sense; // encoder
kbruil 9:19dafcb4a098 13
kbruil 9:19dafcb4a098 14 BiQuad bq1, bq2; // Declare biquads for filtering D
kbruil 9:19dafcb4a098 15 BiQuadChain bqc; // Declare biquad chains for filtering D
kbruil 9:19dafcb4a098 16
kbruil 9:19dafcb4a098 17 double position;
kbruil 9:19dafcb4a098 18 double integral;
kbruil 9:19dafcb4a098 19 double olderr;
kbruil 9:19dafcb4a098 20 double P, I, D;
kbruil 9:19dafcb4a098 21 bool flip;
kbruil 9:19dafcb4a098 22
kbruil 9:19dafcb4a098 23
kbruil 9:19dafcb4a098 24 public:
kbruil 9:19dafcb4a098 25 motor(PinName p_pwm, PinName p_dir, PinName p_senseA, PinName p_senseB, double p, double i, double d, bool flipped);
kbruil 9:19dafcb4a098 26 void setSpeed(float val);
kbruil 9:19dafcb4a098 27 double getPosition(void);
kbruil 9:19dafcb4a098 28 void PID(double setpoint, double dt);
kbruil 9:19dafcb4a098 29 ~motor();
kbruil 9:19dafcb4a098 30
kbruil 9:19dafcb4a098 31 };