Corrected header file include guards.
Fork of HipControl by
HipControl.h
- Committer:
- perr1940
- Date:
- 2014-11-19
- Revision:
- 0:911517b34248
- Child:
- 1:d87dac5c3658
File content as of revision 0:911517b34248:
#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 */