Diff: src/MotorControl.h

Revision:

5:71c2f193a7f9

Parent:

4:9edb248c6431

--- a/src/MotorControl.h	Mon May 31 16:47:02 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,56 +0,0 @@
-#ifndef KARBOT_MOTOR_CONTROL_H
-#define KARBOT_MOTOR_CONTROL_H
-
-/* Karbot motor control class
- * Written by Simon Krogedal
- * 27/05/21
- * Team 9 4th Year project
- * 
- * for NUCLEO-F401RE
- * 
- */
- 
- #include "mbed.h"
- #include "encoder.h"
- #include "motor.h"
-
-/* This class controls the speed of an individual motor, helping the system keep
- * symmetric with asymmetric components. It is based on the encoder class
- * and contains a pointer to a motor object. With two of these the motion
- * controller can drive the robot to the desired points.
- */
-class MotorControl : public encoder {
-    private:
-        motor*      mot;            // motor object
-        
-        double      Kp,             // Proportional gain
-                    Ti,             // Integral gain time
-                    r_speed,        // Speed set point
-                    r_clicks,       // Same but in the "encoder language"
-                    max_speed,      // The max speed of the motor (not used)
-                    output,         // PWM output duty cycle
-                    prev_error;     // Previous error, used for intergral control
-                    
-        bool        dir,            // Drivign direction (not used)
-                    max_out;        // Flag triggered when output is saturated (not used)
-        
-        double getError(void);      // Calculate current error
-        
-        void algorithm(void);       // Control algorithm
-    
-    public:
-        // Constructor takes encoder pins and constants, and a motor object and contorller gains
-        MotorControl(PinName a, PinName b, PinName i, int r, bool c, double p, motor* m, double ms, double kp, double ti, double ec);
-        
-        void setSpeed(double s);    // Set the speed of the wheel
-        void drive(void);           // Drive at set speet
-        void stop(void);            // Stop motor
-        void driveManual(void);     // Drive at set speed in open loop
-        void samplecall(void);      // Sample encoder and update read speed value
-        void setK(double k);        // Set gain (used for Z-N tuning
-        void start(void);           // This function is overridden to avoid bugs
-        double getOutput(void);     // Returns current duty cycle
-        bool checkFlag(void);       // Check whether max out flag is set
-};
-
-#endif
\ No newline at end of file