Diff: src/MotorControl.cpp

Revision:

5:71c2f193a7f9

Parent:

4:9edb248c6431

--- a/src/MotorControl.cpp	Mon May 31 16:47:02 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,75 +0,0 @@
-/* Karbot motor control class
- * Written by Simon Krogedal
- * 27/05/21
- * Team 9 4th Year project
- * 
- * for NUCLEO-F401RE
- * 
- */
- 
- #include "mbed.h"
- #include "motor.h"
- #include "MotorControl.h"
- 
- 
-double MotorControl::getError(void) {return (r_clicks - getClicks());}
-
-void MotorControl::algorithm(void) {
-//          pc.printf("speed adjusting\n");
-    sample_func();
-    double error = getError();               
-    output += Kp * (error + Ti*error - prev_error);             //computes current error from encoder sample and the resulting action
-    if(output > 1.0) {                                          //limit checks and error flag set
-        output = 1.0;
-        max_out = 1;                                            //this flag says not to increase speed more
-    }
-    else if(output < -1.0) {
-        output = -1.0;
-        max_out = 1;
-    }
-    else
-        max_out = 0;
-    mot->setOut(output);                                        //set new output
-//          pc.printf("output set to %2.2f\n", output);
-    prev_error = error;
-}
-
-MotorControl::MotorControl(PinName a, PinName b, PinName i, int r, bool c, double p, motor* m, double ms, double kp, double ti, double ec)
-            : encoder(a, b, r, c, p, ec), mot(m), max_speed(ms), Kp(kp), Ti(ti) {
-    output = 0.1; dir = 1;                          //default to avoid bugs
-    max_out = 0;                                    //flag set
-    prev_error = 0;
-}
-
-void MotorControl::setSpeed(double s) { //set speed in m/s. remember to consider the motor max speed
-    r_speed = s;
-    r_clicks = s / enc_const;
-//          pc.printf("r_clicks set to %2.2f\n", r_clicks);
-}
-
-void MotorControl::drive(void) {
-    mot->setOut(output); //pc.printf("initial output set to %2.2f\n", output);
-    mot->drive(); //pc.printf("motor driving\n");
-    //pc.printf("setting sampler at period %2.2f\n", period);
-    sampler.attach(callback(this, &MotorControl::algorithm), period); //pc.printf("sampler set\n");
-}
-
-void MotorControl::stop(void) {
-    mot->stop();
-    sampler.detach();
-    prev_error = 0;
-}
-
-void MotorControl::driveManual(void) {
-    mot->setOut(output); //pc.printf("initial output set to %2.2f\n", output);
-    mot->drive(); //pc.printf("motor driving\n");
-}
-
-void MotorControl::samplecall(void) {algorithm();}
-
-void MotorControl::setK(double k) {Kp = k;}
-
-void MotorControl::start(void) {} //this function is overridden to avoid bugs
-//      double MotorControl::getError(void) {return (speed - getSpeed());}
-double MotorControl::getOutput(void) {return output;}
-bool MotorControl::checkFlag(void) {return max_out;}
\ No newline at end of file