Fabian Meissner / PM2_Libary

Libary for PM2.

Dependencies:   RangeFinder FastPWM

PositionController.h@9:97b59d914fd8, 2021-04-24 (annotated)

Committer:
mrford1616
Date:
Sat Apr 24 09:47:52 2021 +0000
Revision:
9:97b59d914fd8
Parent:
8:6b747ad59ff5 
V1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 8:6b747ad59ff5 1 #ifndef PositionController_H_
pmic 8:6b747ad59ff5 2 #define PositionController_H_
pmic 8:6b747ad59ff5 3 #include <cstdlib>
pmic 8:6b747ad59ff5 4 #include <mbed.h>
pmic 8:6b747ad59ff5 5 #include "EncoderCounter.h"
pmic 8:6b747ad59ff5 6 #include "LowpassFilter.h"
pmic 8:6b747ad59ff5 7 #include "ThreadFlag.h"
pmic 8:6b747ad59ff5 8 #include "FastPWM.h"
pmic 8:6b747ad59ff5 9
pmic 8:6b747ad59ff5 10 class PositionController
pmic 8:6b747ad59ff5 11 {
pmic 8:6b747ad59ff5 12 public:
pmic 8:6b747ad59ff5 13
pmic 8:6b747ad59ff5 14 PositionController(float counts_per_turn, float kn, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
pmic 8:6b747ad59ff5 15 PositionController(float counts_per_turn, float kn, float kp, float p, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
pmic 8:6b747ad59ff5 16
pmic 8:6b747ad59ff5 17 virtual ~PositionController();
pmic 8:6b747ad59ff5 18
pmic 8:6b747ad59ff5 19 float getSpeedRPM();
pmic 8:6b747ad59ff5 20 float getSpeedRPS();
pmic 8:6b747ad59ff5 21 void setDesiredRotation(float desiredRotation);
pmic 8:6b747ad59ff5 22 void setDesiredRotation(float desiredRotation, float maxSpeedRPS);
pmic 8:6b747ad59ff5 23 float getRotation();
pmic 8:6b747ad59ff5 24
pmic 8:6b747ad59ff5 25 private:
pmic 8:6b747ad59ff5 26
pmic 8:6b747ad59ff5 27 static const float TS;
pmic 8:6b747ad59ff5 28 static const float LOWPASS_FILTER_FREQUENCY;
pmic 8:6b747ad59ff5 29 static const float MIN_DUTY_CYCLE;
pmic 8:6b747ad59ff5 30 static const float MAX_DUTY_CYCLE;
pmic 8:6b747ad59ff5 31
pmic 8:6b747ad59ff5 32 float counts_per_turn;
pmic 8:6b747ad59ff5 33 float kn;
pmic 8:6b747ad59ff5 34 float kp;
pmic 8:6b747ad59ff5 35 float max_voltage;
pmic 8:6b747ad59ff5 36 float max_speed;
pmic 8:6b747ad59ff5 37 float p;
pmic 8:6b747ad59ff5 38
pmic 8:6b747ad59ff5 39 FastPWM& pwm;
pmic 8:6b747ad59ff5 40 EncoderCounter& encoderCounter;
pmic 8:6b747ad59ff5 41 short previousValueCounter;
pmic 8:6b747ad59ff5 42 LowpassFilter speedFilter;
pmic 8:6b747ad59ff5 43 float desiredSpeed;
pmic 8:6b747ad59ff5 44 float actualSpeed;
pmic 8:6b747ad59ff5 45 float initialRotation;
pmic 8:6b747ad59ff5 46 float actualRotation;
pmic 8:6b747ad59ff5 47 float desiredRotation;
pmic 8:6b747ad59ff5 48
pmic 8:6b747ad59ff5 49 ThreadFlag threadFlag;
pmic 8:6b747ad59ff5 50 Thread thread;
pmic 8:6b747ad59ff5 51 Ticker ticker;
pmic 8:6b747ad59ff5 52
pmic 8:6b747ad59ff5 53 void run();
pmic 8:6b747ad59ff5 54 void sendThreadFlag();
pmic 8:6b747ad59ff5 55 };
pmic 8:6b747ad59ff5 56
pmic 8:6b747ad59ff5 57 #endif /* PositionController_H_ */