Diff: HipControl.h

Revision:

0:911517b34248

Child:

1:d87dac5c3658

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HipControl.h	Wed Nov 19 22:11:34 2014 +0000
@@ -0,0 +1,111 @@
+
+
+#ifndef HIPCONTROL_H
+#define HIPCONTROL_H
+
+/**
+* Copyright (c) 2012-2014
+* All rights reserved.
+*
+ *
+ * by Bradley Perry
+ *
+*/
+
+
+/**
+* Control strategys for Daniel's Device
+*
+* @file control.h
+* @author Bradley Perry
+*
+* @brief Control algorithms
+*/
+
+#include "mbed.h"
+#include "filter.h"
+
+class HipControl
+{
+public:
+    HipControl(PinName pwm, PinName dirpin);
+    void FL(float ref, float pos);
+    void FL_new(float ref, float pos);
+    void PD(float ref, float pos);
+    void P(float ref, float pos);
+    void setGains(float P, float D);
+    void setSat(float limit);
+    void sampleTime(float time);
+    void openLoop(float input);
+    float read();
+    void off();
+    void flip();
+    void clear();
+    void pwmPeriod(float a);
+private:
+    //Controller Parameters
+    //const float Kp=.05;
+    PwmOut _pwm;
+    DigitalOut _dir;
+    float Kp;
+    const float Kp0;
+    float Kd;
+    float sat;
+    float u;
+    float u_prev;
+    float error[2];
+    float T;
+    int sign;
+    filter controlFilter;
+};
+
+//Controller Parameters
+/**
+* Proportional gain after cosine gain schedule
+*/
+/**
+* Initial proportional gain before cosine gain schedule
+*/
+/**
+* Derivative gain
+*/
+
+/**
+* Commanded current soft stop
+*/
+/**
+* Counter for proportional gain cosine gain scheduling
+*/
+/**
+* Vector to store error data
+*/
+
+/**
+* Cosine magnitude for gain scheduling
+*/
+/**
+* Cosine frequency for gain scheduling
+*/
+/**
+* Offset for gain scheduling
+*/
+
+#endif
+
+/**
+* Feedback linearization and gain scheduling controller.  Used for all hip trajectory following.
+* @param ref Reference point to track.
+* @param pos Current position in degrees
+* @param Kp Proportional gain
+* @param Kd Derivative gain
+* @param sat Commanded current saturation
+*/
+
+/**
+* Vanilla PD controller for set-point tracking.  Mostly used for haptics.
+* @param ref Reference point to track.
+* @param pos Current position in degrees
+* @param Kp Proportional gain
+* @param Kd Derivative gain
+* @param sat Commanded current saturation
+*/
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