Marco Oehler / Mbed 2 deprecated Lab2

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Dependencies:   mbed

Controller.h@0:1a972ed770da, 2020-03-09 (annotated)

Committer:
oehlemar
Date:
Mon Mar 09 16:23:04 2020 +0000
Revision:
0:1a972ed770da
LAB2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oehlemar 0:1a972ed770da 1 /*
oehlemar 0:1a972ed770da 2 * Controller.h
oehlemar 0:1a972ed770da 3 * Copyright (c) 2020, ZHAW
oehlemar 0:1a972ed770da 4 * All rights reserved.
oehlemar 0:1a972ed770da 5 */
oehlemar 0:1a972ed770da 6
oehlemar 0:1a972ed770da 7 #ifndef CONTROLLER_H_
oehlemar 0:1a972ed770da 8 #define CONTROLLER_H_
oehlemar 0:1a972ed770da 9
oehlemar 0:1a972ed770da 10 #include <cstdlib>
oehlemar 0:1a972ed770da 11 #include <mbed.h>
oehlemar 0:1a972ed770da 12 #include "EncoderCounter.h"
oehlemar 0:1a972ed770da 13 #include "Motion.h"
oehlemar 0:1a972ed770da 14 #include "LowpassFilter.h"
oehlemar 0:1a972ed770da 15
oehlemar 0:1a972ed770da 16 /**
oehlemar 0:1a972ed770da 17 * This class implements a controller that regulates the
oehlemar 0:1a972ed770da 18 * speed of the two motors of the ROME2 mobile robot.
oehlemar 0:1a972ed770da 19 */
oehlemar 0:1a972ed770da 20 class Controller {
oehlemar 0:1a972ed770da 21
oehlemar 0:1a972ed770da 22 public:
oehlemar 0:1a972ed770da 23
oehlemar 0:1a972ed770da 24 Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight);
oehlemar 0:1a972ed770da 25 virtual ~Controller();
oehlemar 0:1a972ed770da 26 void setTranslationalVelocity(float velocity);
oehlemar 0:1a972ed770da 27 void setRotationalVelocity(float velocity);
oehlemar 0:1a972ed770da 28 float getActualTranslationalVelocity();
oehlemar 0:1a972ed770da 29 float getActualRotationalVelocity();
oehlemar 0:1a972ed770da 30 void setDesiredSpeedLeft(float desiredSpeedLeft);
oehlemar 0:1a972ed770da 31 void setDesiredSpeedRight(float desiredSpeedRight);
oehlemar 0:1a972ed770da 32 float getActualSpeedLeft();
oehlemar 0:1a972ed770da 33 float getActualSpeedRight();
oehlemar 0:1a972ed770da 34
oehlemar 0:1a972ed770da 35 private:
oehlemar 0:1a972ed770da 36
oehlemar 0:1a972ed770da 37 static const float PERIOD;
oehlemar 0:1a972ed770da 38 static const float PI;
oehlemar 0:1a972ed770da 39 static const float WHEEL_DISTANCE;
oehlemar 0:1a972ed770da 40 static const float WHEEL_RADIUS;
oehlemar 0:1a972ed770da 41 static const float COUNTS_PER_TURN;
oehlemar 0:1a972ed770da 42 static const float LOWPASS_FILTER_FREQUENCY;
oehlemar 0:1a972ed770da 43 static const float KN;
oehlemar 0:1a972ed770da 44 static const float KP;
oehlemar 0:1a972ed770da 45 static const float MAX_VOLTAGE;
oehlemar 0:1a972ed770da 46 static const float MIN_DUTY_CYCLE;
oehlemar 0:1a972ed770da 47 static const float MAX_DUTY_CYCLE;
oehlemar 0:1a972ed770da 48
oehlemar 0:1a972ed770da 49 PwmOut& pwmLeft;
oehlemar 0:1a972ed770da 50 PwmOut& pwmRight;
oehlemar 0:1a972ed770da 51 EncoderCounter& counterLeft;
oehlemar 0:1a972ed770da 52 EncoderCounter& counterRight;
oehlemar 0:1a972ed770da 53 Motion translationalMotion;
oehlemar 0:1a972ed770da 54 Motion rotationalMotion;
oehlemar 0:1a972ed770da 55 float translationalVelocity;
oehlemar 0:1a972ed770da 56 float rotationalVelocity;
oehlemar 0:1a972ed770da 57 float actualTranslationalVelocity;
oehlemar 0:1a972ed770da 58 float actualRotationalVelocity;
oehlemar 0:1a972ed770da 59 short previousValueCounterLeft;
oehlemar 0:1a972ed770da 60 short previousValueCounterRight;
oehlemar 0:1a972ed770da 61 LowpassFilter speedLeftFilter;
oehlemar 0:1a972ed770da 62 LowpassFilter speedRightFilter;
oehlemar 0:1a972ed770da 63 float desiredSpeedLeft;
oehlemar 0:1a972ed770da 64 float desiredSpeedRight;
oehlemar 0:1a972ed770da 65 float actualSpeedLeft;
oehlemar 0:1a972ed770da 66 float actualSpeedRight;
oehlemar 0:1a972ed770da 67 Ticker ticker;
oehlemar 0:1a972ed770da 68
oehlemar 0:1a972ed770da 69 void run();
oehlemar 0:1a972ed770da 70 };
oehlemar 0:1a972ed770da 71
oehlemar 0:1a972ed770da 72 #endif /* CONTROLLER_H_ */
oehlemar 0:1a972ed770da 73