Nathaniel Honka / HipControl

Corrected header file include guards.

Fork of HipControl by Bradley Perry

HipControl.h@0:911517b34248, 2014-11-19 (annotated)

Committer:
perr1940
Date:
Wed Nov 19 22:11:34 2014 +0000
Revision:
0:911517b34248
Child:
1:d87dac5c3658
Sharing with Michael Ling

Who changed what in which revision?

UserRevisionLine numberNew contents of line
perr1940 0:911517b34248 1
perr1940 0:911517b34248 2
perr1940 0:911517b34248 3 #ifndef HIPCONTROL_H
perr1940 0:911517b34248 4 #define HIPCONTROL_H
perr1940 0:911517b34248 5
perr1940 0:911517b34248 6 /**
perr1940 0:911517b34248 7 * Copyright (c) 2012-2014
perr1940 0:911517b34248 8 * All rights reserved.
perr1940 0:911517b34248 9 *
perr1940 0:911517b34248 10 *
perr1940 0:911517b34248 11 * by Bradley Perry
perr1940 0:911517b34248 12 *
perr1940 0:911517b34248 13 */
perr1940 0:911517b34248 14
perr1940 0:911517b34248 15
perr1940 0:911517b34248 16 /**
perr1940 0:911517b34248 17 * Control strategys for Daniel's Device
perr1940 0:911517b34248 18 *
perr1940 0:911517b34248 19 * @file control.h
perr1940 0:911517b34248 20 * @author Bradley Perry
perr1940 0:911517b34248 21 *
perr1940 0:911517b34248 22 * @brief Control algorithms
perr1940 0:911517b34248 23 */
perr1940 0:911517b34248 24
perr1940 0:911517b34248 25 #include "mbed.h"
perr1940 0:911517b34248 26 #include "filter.h"
perr1940 0:911517b34248 27
perr1940 0:911517b34248 28 class HipControl
perr1940 0:911517b34248 29 {
perr1940 0:911517b34248 30 public:
perr1940 0:911517b34248 31 HipControl(PinName pwm, PinName dirpin);
perr1940 0:911517b34248 32 void FL(float ref, float pos);
perr1940 0:911517b34248 33 void FL_new(float ref, float pos);
perr1940 0:911517b34248 34 void PD(float ref, float pos);
perr1940 0:911517b34248 35 void P(float ref, float pos);
perr1940 0:911517b34248 36 void setGains(float P, float D);
perr1940 0:911517b34248 37 void setSat(float limit);
perr1940 0:911517b34248 38 void sampleTime(float time);
perr1940 0:911517b34248 39 void openLoop(float input);
perr1940 0:911517b34248 40 float read();
perr1940 0:911517b34248 41 void off();
perr1940 0:911517b34248 42 void flip();
perr1940 0:911517b34248 43 void clear();
perr1940 0:911517b34248 44 void pwmPeriod(float a);
perr1940 0:911517b34248 45 private:
perr1940 0:911517b34248 46 //Controller Parameters
perr1940 0:911517b34248 47 //const float Kp=.05;
perr1940 0:911517b34248 48 PwmOut _pwm;
perr1940 0:911517b34248 49 DigitalOut _dir;
perr1940 0:911517b34248 50 float Kp;
perr1940 0:911517b34248 51 const float Kp0;
perr1940 0:911517b34248 52 float Kd;
perr1940 0:911517b34248 53 float sat;
perr1940 0:911517b34248 54 float u;
perr1940 0:911517b34248 55 float u_prev;
perr1940 0:911517b34248 56 float error[2];
perr1940 0:911517b34248 57 float T;
perr1940 0:911517b34248 58 int sign;
perr1940 0:911517b34248 59 filter controlFilter;
perr1940 0:911517b34248 60 };
perr1940 0:911517b34248 61
perr1940 0:911517b34248 62 //Controller Parameters
perr1940 0:911517b34248 63 /**
perr1940 0:911517b34248 64 * Proportional gain after cosine gain schedule
perr1940 0:911517b34248 65 */
perr1940 0:911517b34248 66 /**
perr1940 0:911517b34248 67 * Initial proportional gain before cosine gain schedule
perr1940 0:911517b34248 68 */
perr1940 0:911517b34248 69 /**
perr1940 0:911517b34248 70 * Derivative gain
perr1940 0:911517b34248 71 */
perr1940 0:911517b34248 72
perr1940 0:911517b34248 73 /**
perr1940 0:911517b34248 74 * Commanded current soft stop
perr1940 0:911517b34248 75 */
perr1940 0:911517b34248 76 /**
perr1940 0:911517b34248 77 * Counter for proportional gain cosine gain scheduling
perr1940 0:911517b34248 78 */
perr1940 0:911517b34248 79 /**
perr1940 0:911517b34248 80 * Vector to store error data
perr1940 0:911517b34248 81 */
perr1940 0:911517b34248 82
perr1940 0:911517b34248 83 /**
perr1940 0:911517b34248 84 * Cosine magnitude for gain scheduling
perr1940 0:911517b34248 85 */
perr1940 0:911517b34248 86 /**
perr1940 0:911517b34248 87 * Cosine frequency for gain scheduling
perr1940 0:911517b34248 88 */
perr1940 0:911517b34248 89 /**
perr1940 0:911517b34248 90 * Offset for gain scheduling
perr1940 0:911517b34248 91 */
perr1940 0:911517b34248 92
perr1940 0:911517b34248 93 #endif
perr1940 0:911517b34248 94
perr1940 0:911517b34248 95 /**
perr1940 0:911517b34248 96 * Feedback linearization and gain scheduling controller. Used for all hip trajectory following.
perr1940 0:911517b34248 97 * @param ref Reference point to track.
perr1940 0:911517b34248 98 * @param pos Current position in degrees
perr1940 0:911517b34248 99 * @param Kp Proportional gain
perr1940 0:911517b34248 100 * @param Kd Derivative gain
perr1940 0:911517b34248 101 * @param sat Commanded current saturation
perr1940 0:911517b34248 102 */
perr1940 0:911517b34248 103
perr1940 0:911517b34248 104 /**
perr1940 0:911517b34248 105 * Vanilla PD controller for set-point tracking. Mostly used for haptics.
perr1940 0:911517b34248 106 * @param ref Reference point to track.
perr1940 0:911517b34248 107 * @param pos Current position in degrees
perr1940 0:911517b34248 108 * @param Kp Proportional gain
perr1940 0:911517b34248 109 * @param Kd Derivative gain
perr1940 0:911517b34248 110 * @param sat Commanded current saturation
perr1940 0:911517b34248 111 */