Diff: Controller.h

Revision:

1:2b5f79285a3e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Controller.h	Thu Apr 19 06:19:43 2018 +0000
@@ -0,0 +1,65 @@
+#ifndef CONTROLLER_H_
+#define CONTROLLER_H_
+#include <cstdlib>
+#include <mbed.h>
+#include "EncoderCounter.h"
+#include "LowpassFilter.h"
+
+class Controller
+{
+
+public:
+
+    Controller(PwmOut& pwmLeft, PwmOut& pwmRight,
+               EncoderCounter& counterLeft, EncoderCounter& counterRight);
+
+    virtual ~Controller();
+    void setDesiredSpeedLeft(float desiredSpeedLeft);
+    void setDesiredSpeedRight(float desiredSpeedRight);
+    float getSpeedLeft();
+    float getSpeedRight();
+    float getIntegralLeft();
+    float getIntegralRight();
+    float getProportionalLeft();
+    float getProportionalRight();
+    void counterReset();
+
+private:
+
+    static const float PERIOD;
+    static const float COUNTS_PER_TURN;
+    static const float LOWPASS_FILTER_FREQUENCY;
+    static const float KN;
+    static const float KP;
+    static const float KI;
+    static const float I_MAX;    
+    static const float MAX_VOLTAGE;
+    static const float MIN_DUTY_CYCLE;
+    static const float MAX_DUTY_CYCLE;
+
+    PwmOut&            pwmLeft;
+    PwmOut&            pwmRight;
+    EncoderCounter&    counterLeft;
+    EncoderCounter&    counterRight;
+    short              previousValueCounterLeft;
+    short              previousValueCounterRight;
+    LowpassFilter      speedLeftFilter;
+    LowpassFilter      speedRightFilter;
+    float              desiredSpeedLeft;
+    float              desiredSpeedRight;
+    float              actualSpeedLeft;
+    float              actualSpeedRight;
+    float              iSumLeft;
+    float              iSumRight;
+    Ticker             ticker;
+    
+    void               run();
+
+};
+
+#endif /* CONTROLLER_H_ */
+
+
+
+
+