File content as of revision 13:34f7f783ad24:

#include "Controller/MachineDirectionController.h"

MachineDirectionController::MachineDirectionController(PwmOut *pwmOut, Queue<float, 2> *machine_direction_queue, Queue<float, 2> *imu_queue_velocity) {
    this->pwmOut = pwmOut;
    this->machine_direction_queue = machine_direction_queue;
    this->imu_queue_velocity = imu_queue_velocity;
    init();
}

void MachineDirectionController::init() {
    timer_velocity_sampling_time=0.01;
    
    l_Ki=0.1*timer_velocity_sampling_time;
}

void MachineDirectionController::check_queues() {
    velocity_set_event = machine_direction_queue->get(0);
    if (velocity_set_event.status == osEventMessage) {
        velocity_set = *(float*)velocity_set_event.value.p;
    }
    
    velocity_current_event = imu_queue_velocity->get(0);
    if (velocity_current_event.status == osEventMessage) {
        velocity_current = *(float *)velocity_current_event.value.p;
    }
}

void MachineDirectionController::cylic_control() {
    check_queues();
    
    Vorsteuerung=88.316*velocity_set+175.17;
    l_e = velocity_set-velocity_current;
    l_esum = l_esum + l_e;

    PI_Regler =l_Kp*l_e+l_Ki * l_esum;

    l_output=Vorsteuerung+PI_Regler;

    l_PWM = 1500+l_output;

    if(l_PWM<1500) {
        l_PWM = 1500;
        l_esum = l_esum-2*l_e;
    } else if(l_PWM>2000) {
        l_PWM = 2000;
        l_esum = l_esum-2*l_e;
    } else if(velocity_set < 0.1) {
        l_PWM = 1500;
    }
    
    pwmOut->pulsewidth_us(1700);
    //pwmOut.pulsewidth_us(l_PWM);
}