Diff: fader.h

Revision:

0:371773dd3dd1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/fader.h	Wed May 04 15:41:13 2011 +0000
@@ -0,0 +1,93 @@
+#ifndef FADER_H
+#define FADER_H
+#include "motordriver.h"
+#include "PID.h"
+#include "filter.h"
+
+extern AnalogIn Vmotor;
+extern DigitalOut track;
+
+
+class servo: public Motor {//class to control a DC motor with analog (potentiometer) feedback
+    AnalogIn *fb;
+    PID *pid;
+    Ticker tick;
+    float _setPoint;
+    float _out;
+    float deadband;
+    bool coasting;
+    float med;
+    filter *flt;
+protected:
+    virtual void process();
+    void reset() {
+        pid->reset();
+    }
+    void update() {
+        med = flt->process(*fb);
+    }
+public:
+    servo(PinName p, PinName f, PinName r, PinName a);
+    virtual ~servo() {
+        delete pid;
+        delete fb;
+        delete flt;
+    }
+//setters
+    virtual void set(float v) {
+        _setPoint = v;
+        pid->setSetPoint(v);
+    printf("%f %%\n", v*100);
+    }
+//getters
+    float pos() {
+        //return *fb;
+        return med;
+    }
+    float setPoint() {
+        return _setPoint;
+    }
+    float output() {
+        return _out;
+    }
+    bool isCoasting() {
+        return coasting;
+    }
+};
+
+class fader: public servo {
+    float thres, thres2;
+    int count;
+    float lastpos;
+    AnalogIn *touch;
+    void (*command)(float);
+    enum { holding, tracking, moving} state;
+protected:
+    virtual void process() ;
+public:
+    fader(PinName p, PinName f, PinName r, PinName a, PinName t=NC);
+    virtual ~fader() {
+        if (touch)
+            delete touch;
+    }
+//setters
+    virtual void set(float v) {
+        if (state==moving)
+            return; //cannot accept new value while wiper is being moved
+        if (state==holding)
+            reset(); //clear cummulative error after coasting
+        state = tracking;//this is the only way to make the servo active again
+        servo::set(v);
+//    printf("%f%%\n", v*100);
+        track = 0; //debug
+    }
+    void setOnMove(void(*f)(float)) {
+        command = f;
+    }
+    void setMoveThreshold(float t) {
+        thres = t;
+    }
+//getters
+    //pos is inherited
+};
+#endif
\ No newline at end of file