Revision 0:1a972ed770da, committed 2020-03-09

Comitter:

oehlemar

Date:

Mon Mar 09 16:23:04 2020 +0000

Commit message:

LAB2

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Controller.cpp	Mon Mar 09 16:23:04 2020 +0000
@@ -0,0 +1,205 @@
+/*
+ * Controller.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include "Controller.h"
+
+using namespace std;
+
+const float Controller::PERIOD = 0.001f;                    // period of 1 ms
+const float Controller::PI = 3.14159265f;                   // the constant PI
+const float Controller::WHEEL_DISTANCE = 0.185f;            // distance between wheels, given in [m]
+const float Controller::WHEEL_RADIUS = 0.038f;              // radius of wheels, given in [m]
+const float Controller::COUNTS_PER_TURN = 1200.0f;         // encoder resolution (pololu motors: 1200.0f, maxon motors: 86016.0f)
+const float Controller::LOWPASS_FILTER_FREQUENCY = 300.0f;  // given in [rad/s]
+const float Controller::KN = 40.0f;                         // speed constant in [rpm/V] (pololu motors: 40.0f, maxon motors: 45.0f)
+const float Controller::KP = 0.25f;                          // speed control parameter
+const float Controller::MAX_VOLTAGE = 12.0f;                // battery voltage in [V]
+const float Controller::MIN_DUTY_CYCLE = 0.02f;             // minimum duty-cycle
+const float Controller::MAX_DUTY_CYCLE = 0.98f;             // maximum duty-cycle
+
+/**
+ * Creates and initialises the robot controller.
+ * @param pwmLeft a reference to the pwm output for the left motor.
+ * @param pwmRight a reference to the pwm output for the right motor.
+ * @param counterLeft a reference to the encoder counter of the left motor.
+ * @param counterRight a reference to the encoder counter of the right motor.
+ */
+Controller::Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight) : pwmLeft(pwmLeft), pwmRight(pwmRight), counterLeft(counterLeft), counterRight(counterRight) {
+    
+    // initialise pwm outputs
+    
+    pwmLeft.period(0.00005f);  // pwm period of 50 us
+    pwmLeft = 0.5f;            // duty-cycle of 50%
+    
+    pwmRight.period(0.00005f); // pwm period of 50 us
+    pwmRight = 0.5f;           // duty-cycle of 50%
+    
+    // initialise local variables
+    
+    translationalMotion.setProfileVelocity(1.0f);
+    translationalMotion.setProfileAcceleration(2.0f);
+    translationalMotion.setProfileDeceleration(3.0f);
+    
+    rotationalMotion.setProfileVelocity(1.5f);
+    rotationalMotion.setProfileAcceleration(20.0f);
+    rotationalMotion.setProfileDeceleration(20.0f);
+    
+    translationalVelocity = 0.0f;
+    rotationalVelocity = 0.0f;
+    actualTranslationalVelocity = 0.0f;
+    actualRotationalVelocity = 0.0f;
+    
+    previousValueCounterLeft = counterLeft.read();
+    previousValueCounterRight = counterRight.read();
+    
+    speedLeftFilter.setPeriod(PERIOD);
+    speedLeftFilter.setFrequency(LOWPASS_FILTER_FREQUENCY);
+    
+    speedRightFilter.setPeriod(PERIOD);
+    speedRightFilter.setFrequency(LOWPASS_FILTER_FREQUENCY);
+    
+    desiredSpeedLeft = 0.0f;
+    desiredSpeedRight = 0.0f;
+    
+    actualSpeedLeft = 0.0f;
+    actualSpeedRight = 0.0f;
+    
+    // start the periodic task
+    
+    ticker.attach(callback(this, &Controller::run), PERIOD);
+}
+
+/**
+ * Deletes this Controller object.
+ */
+Controller::~Controller() {
+    
+    ticker.detach(); // stop the periodic task
+}
+
+/**
+ * Sets the desired translational velocity of the robot.
+ * @param velocity the desired translational velocity, given in [m/s].
+ */
+void Controller::setTranslationalVelocity(float velocity) {
+    
+    this->translationalVelocity = velocity;
+}
+
+/**
+ * Sets the desired rotational velocity of the robot.
+ * @param velocity the desired rotational velocity, given in [rad/s].
+ */
+void Controller::setRotationalVelocity(float velocity) {
+    
+    this->rotationalVelocity = velocity;
+}
+
+/**
+ * Gets the actual translational velocity of the robot.
+ * @return the actual translational velocity, given in [m/s].
+ */
+float Controller::getActualTranslationalVelocity() {
+    
+    return actualTranslationalVelocity;
+}
+
+/**
+ * Gets the actual rotational velocity of the robot.
+ * @return the actual rotational velocity, given in [rad/s].
+ */
+float Controller::getActualRotationalVelocity() {
+    
+    return actualRotationalVelocity;
+}
+
+/**
+ * Sets the desired speed of the left motor.
+ * @param desiredSpeedLeft desired speed given in [rpm].
+ */
+void Controller::setDesiredSpeedLeft(float desiredSpeedLeft) {
+
+    this->desiredSpeedLeft = desiredSpeedLeft;
+}
+
+/**
+ * Sets the desired speed of the right motor.
+ * @param desiredSpeedRight desired speed given in [rpm].
+ */
+void Controller::setDesiredSpeedRight(float desiredSpeedRight) {
+
+    this->desiredSpeedRight = desiredSpeedRight;
+}
+
+/**
+ * Gets the actual speed of the left motor.
+ * @return the actual speed given in [rpm].
+ */
+float Controller::getActualSpeedLeft() {
+
+    return actualSpeedLeft;
+}
+
+/**
+ * Gets the actual speed of the right motor.
+ * @return the actual speed given in [rpm].
+ */
+float Controller::getActualSpeedRight() {
+
+    return actualSpeedRight;
+}
+
+/**
+ * This is an internal method of the controller that is running periodically.
+ */
+void Controller::run() {
+ 
+    // calculate the planned velocities using the motion planner
+    translationalMotion.incrementToVelocity(translationalVelocity, PERIOD); // Schnelligkeit 0.5 m/s, Periode 0.001 Sek.
+    rotationalMotion.incrementToVelocity(rotationalVelocity, PERIOD);
+    
+    // calculate the values 'desiredSpeedLeft' and 'desiredSpeedRight' using the kinematic model
+    desiredSpeedLeft = translationalVelocity - (WHEEL_DISTANCE/2)*rotationalVelocity;
+    desiredSpeedRight = translationalVelocity + (WHEEL_DISTANCE/2)*rotationalVelocity;
+    
+    // calculate the actual speed of the motors in [rpm]
+    desiredSpeedLeft = (60/(2*PI*WHEEL_RADIUS))*desiredSpeedLeft;
+    desiredSpeedRight = (-60/(2*PI*WHEEL_RADIUS))*desiredSpeedRight;
+    
+    short valueCounterLeft = counterLeft.read();
+    short valueCounterRight = counterRight.read();
+
+    short countsInPastPeriodLeft = valueCounterLeft-previousValueCounterLeft;
+    short countsInPastPeriodRight = valueCounterRight-previousValueCounterRight;
+
+    previousValueCounterLeft = valueCounterLeft;
+    previousValueCounterRight = valueCounterRight;
+
+    actualSpeedLeft = speedLeftFilter.filter((float)countsInPastPeriodLeft/COUNTS_PER_TURN/PERIOD*60.0f);
+    actualSpeedRight = speedRightFilter.filter((float)countsInPastPeriodRight/COUNTS_PER_TURN/PERIOD*60.0f);
+
+    // calculate desired motor voltages Uout
+
+    float voltageLeft = KP*(desiredSpeedLeft-actualSpeedLeft)+desiredSpeedLeft/KN;
+    float voltageRight = KP*(desiredSpeedRight-actualSpeedRight)+desiredSpeedRight/KN;
+
+    // calculate, limit and set the duty-cycle
+
+    float dutyCycleLeft = 0.5f+0.5f*voltageLeft/MAX_VOLTAGE;
+    if (dutyCycleLeft < MIN_DUTY_CYCLE) dutyCycleLeft = MIN_DUTY_CYCLE;
+    else if (dutyCycleLeft > MAX_DUTY_CYCLE) dutyCycleLeft = MAX_DUTY_CYCLE;
+    pwmLeft = dutyCycleLeft;
+
+    float dutyCycleRight = 0.5f+0.5f*voltageRight/MAX_VOLTAGE;
+    if (dutyCycleRight < MIN_DUTY_CYCLE) dutyCycleRight = MIN_DUTY_CYCLE;
+    else if (dutyCycleRight > MAX_DUTY_CYCLE) dutyCycleRight = MAX_DUTY_CYCLE;
+    pwmRight = dutyCycleRight;
+    
+    // calculate the values 'actualTranslationalVelocity' and 'actualRotationalVelocity' using the kinematic model
+    actualTranslationalVelocity = 0.5*(actualSpeedLeft+actualSpeedRight);
+    actualRotationalVelocity = 1/(WHEEL_DISTANCE)*(actualSpeedRight-actualSpeedLeft);
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Controller.h	Mon Mar 09 16:23:04 2020 +0000
@@ -0,0 +1,73 @@
+/*
+ * Controller.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef CONTROLLER_H_
+#define CONTROLLER_H_
+
+#include <cstdlib>
+#include <mbed.h>
+#include "EncoderCounter.h"
+#include "Motion.h"
+#include "LowpassFilter.h"
+
+/**
+ * This class implements a controller that regulates the
+ * speed of the two motors of the ROME2 mobile robot.
+ */
+class Controller {
+    
+    public:
+        
+                Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight);
+        virtual ~Controller();
+        void    setTranslationalVelocity(float velocity);
+        void    setRotationalVelocity(float velocity);
+        float   getActualTranslationalVelocity();
+        float   getActualRotationalVelocity();
+        void    setDesiredSpeedLeft(float desiredSpeedLeft);
+        void    setDesiredSpeedRight(float desiredSpeedRight);
+        float   getActualSpeedLeft();
+        float   getActualSpeedRight();
+        
+  private:
+        
+        static const float  PERIOD;
+        static const float  PI;
+        static const float  WHEEL_DISTANCE;
+        static const float  WHEEL_RADIUS;
+        static const float  COUNTS_PER_TURN;
+        static const float  LOWPASS_FILTER_FREQUENCY;
+        static const float  KN;
+        static const float  KP;
+        static const float  MAX_VOLTAGE;
+        static const float  MIN_DUTY_CYCLE;
+        static const float  MAX_DUTY_CYCLE;
+
+        PwmOut&             pwmLeft;
+        PwmOut&             pwmRight;
+        EncoderCounter&     counterLeft;
+        EncoderCounter&     counterRight;
+        Motion              translationalMotion;
+        Motion              rotationalMotion;
+        float               translationalVelocity;
+        float               rotationalVelocity;
+        float               actualTranslationalVelocity;
+        float               actualRotationalVelocity;
+        short               previousValueCounterLeft;
+        short               previousValueCounterRight;
+        LowpassFilter       speedLeftFilter;
+        LowpassFilter       speedRightFilter;
+        float               desiredSpeedLeft;
+        float               desiredSpeedRight;
+        float               actualSpeedLeft;
+        float               actualSpeedRight;
+        Ticker              ticker;
+        
+        void    run();
+};
+
+#endif /* CONTROLLER_H_ */
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderCounter.cpp	Mon Mar 09 16:23:04 2020 +0000
@@ -0,0 +1,182 @@
+/*
+ * EncoderCounter.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include "EncoderCounter.h"
+
+using namespace std;
+
+/**
+ * Creates and initialises the driver to read the quadrature
+ * encoder counter of the STM32 microcontroller.
+ * @param a the input pin for the channel A.
+ * @param b the input pin for the channel B.
+ */
+EncoderCounter::EncoderCounter(PinName a, PinName b) {
+    
+    // check pins
+    
+    if ((a == PA_15) && (b == PB_3)) {
+        
+        // pinmap OK for TIM2 CH1 and CH2
+        
+        TIM = TIM2;
+        
+        // configure reset and clock control registers
+        
+        RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;    // manually enable port B (port A enabled by mbed library)
+        
+        // configure general purpose I/O registers
+        
+        GPIOA->MODER &= ~GPIO_MODER_MODER15;    // reset port A15
+        GPIOA->MODER |= GPIO_MODER_MODER15_1;   // set alternate mode of port A15
+        GPIOA->PUPDR &= ~GPIO_PUPDR_PUPDR15;    // reset pull-up/pull-down on port A15
+        GPIOA->PUPDR |= GPIO_PUPDR_PUPDR15_1;   // set input as pull-down
+        GPIOA->AFR[1] &= ~0xF0000000;           // reset alternate function of port A15
+        GPIOA->AFR[1] |= 1 << 4*7;              // set alternate funtion 1 of port A15
+        
+        GPIOB->MODER &= ~GPIO_MODER_MODER3;     // reset port B3
+        GPIOB->MODER |= GPIO_MODER_MODER3_1;    // set alternate mode of port B3
+        GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR3;     // reset pull-up/pull-down on port B3
+        GPIOB->PUPDR |= GPIO_PUPDR_PUPDR3_1;    // set input as pull-down
+        GPIOB->AFR[0] &= ~(0xF << 4*3);         // reset alternate function of port B3
+        GPIOB->AFR[0] |= 1 << 4*3;              // set alternate funtion 1 of port B3
+        
+        // configure reset and clock control registers
+        
+        RCC->APB1RSTR |= RCC_APB1RSTR_TIM2RST;  //reset TIM2 controller
+        RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM2RST;
+        
+        RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;     // TIM2 clock enable
+        
+    } else if ((a == PB_4) && (b == PC_7)) {
+        
+        // pinmap OK for TIM3 CH1 and CH2
+        
+        TIM = TIM3;
+        
+        // configure reset and clock control registers
+        
+        RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;    // manually enable port B
+        RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;    // manually enable port C
+        
+        // configure general purpose I/O registers
+        
+        GPIOB->MODER &= ~GPIO_MODER_MODER4;     // reset port B4
+        GPIOB->MODER |= GPIO_MODER_MODER4_1;    // set alternate mode of port B4
+        GPIOB->PUPDR &= ~GPIO_PUPDR_PUPDR4;     // reset pull-up/pull-down on port B4
+        GPIOB->PUPDR |= GPIO_PUPDR_PUPDR4_1;    // set input as pull-down
+        GPIOB->AFR[0] &= ~(0xF << 4*4);         // reset alternate function of port B4
+        GPIOB->AFR[0] |= 2 << 4*4;              // set alternate funtion 2 of port B4
+        
+        GPIOC->MODER &= ~GPIO_MODER_MODER7;     // reset port C7
+        GPIOC->MODER |= GPIO_MODER_MODER7_1;    // set alternate mode of port C7
+        GPIOC->PUPDR &= ~GPIO_PUPDR_PUPDR7;     // reset pull-up/pull-down on port C7
+        GPIOC->PUPDR |= GPIO_PUPDR_PUPDR7_1;    // set input as pull-down
+        GPIOC->AFR[0] &= ~0xF0000000;           // reset alternate function of port C7
+        GPIOC->AFR[0] |= 2 << 4*7;              // set alternate funtion 2 of port C7
+        
+        // configure reset and clock control registers
+        
+        RCC->APB1RSTR |= RCC_APB1RSTR_TIM3RST;  //reset TIM3 controller
+        RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM3RST;
+        
+        RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;     // TIM3 clock enable
+        
+    } else if ((a == PD_12) && (b == PD_13)) {
+        
+        // pinmap OK for TIM4 CH1 and CH2
+        
+        TIM = TIM4;
+        
+        // configure reset and clock control registers
+        
+        RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;    // manually enable port D
+        
+        // configure general purpose I/O registers
+        
+        GPIOD->MODER &= ~GPIO_MODER_MODER12;    // reset port D12
+        GPIOD->MODER |= GPIO_MODER_MODER12_1;   // set alternate mode of port D12
+        GPIOD->PUPDR &= ~GPIO_PUPDR_PUPDR12;    // reset pull-up/pull-down on port D12
+        GPIOD->PUPDR |= GPIO_PUPDR_PUPDR12_1;   // set input as pull-down
+        GPIOD->AFR[1] &= ~(0xF << 4*4);         // reset alternate function of port D12
+        GPIOD->AFR[1] |= 2 << 4*4;              // set alternate funtion 2 of port D12
+        
+        GPIOD->MODER &= ~GPIO_MODER_MODER13;    // reset port D13
+        GPIOD->MODER |= GPIO_MODER_MODER13_1;   // set alternate mode of port D13
+        GPIOD->PUPDR &= ~GPIO_PUPDR_PUPDR13;    // reset pull-up/pull-down on port D13
+        GPIOD->PUPDR |= GPIO_PUPDR_PUPDR13_1;   // set input as pull-down
+        GPIOD->AFR[1] &= ~(0xF << 4*5);         // reset alternate function of port D13
+        GPIOD->AFR[1] |= 2 << 4*5;              // set alternate funtion 2 of port D13
+        
+        // configure reset and clock control registers
+        
+        RCC->APB1RSTR |= RCC_APB1RSTR_TIM4RST;  //reset TIM4 controller
+        RCC->APB1RSTR &= ~RCC_APB1RSTR_TIM4RST;
+        
+        RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;     // TIM4 clock enable
+        
+    } else {
+        
+        printf("pinmap not found for peripheral\n");
+        
+        TIM = NULL;
+    }
+    
+    // configure general purpose timer 2, 3 or 4
+    
+    if (TIM != NULL) {
+        
+        TIM->CR1 = 0x0000;          // counter disable
+        TIM->CR2 = 0x0000;          // reset master mode selection
+        TIM->SMCR = TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0; // counting on both TI1 & TI2 edges
+        TIM->CCMR1 = TIM_CCMR1_CC2S_0 | TIM_CCMR1_CC1S_0;
+        TIM->CCMR2 = 0x0000;        // reset capture mode register 2
+        TIM->CCER = TIM_CCER_CC2E | TIM_CCER_CC1E;
+        TIM->CNT = 0x0000;          // reset counter value
+        TIM->ARR = 0xFFFF;          // auto reload register
+        TIM->CR1 = TIM_CR1_CEN;     // counter enable
+    }
+}
+
+/**
+ * Deletes this EncoderCounter object.
+ */
+EncoderCounter::~EncoderCounter() {}
+
+/**
+ * Resets the counter value to zero.
+ */
+void EncoderCounter::reset() {
+    
+    TIM->CNT = 0x0000;
+}
+
+/**
+ * Resets the counter value to a given offset value.
+ * @param offset the offset value to reset the counter to.
+ */
+void EncoderCounter::reset(short offset) {
+    
+    TIM->CNT = -offset;
+}
+
+/**
+ * Reads the quadrature encoder counter value.
+ * @return the quadrature encoder counter as a signed 16-bit integer value.
+ */
+short EncoderCounter::read() {
+    
+    return (short)(-TIM->CNT);
+}
+
+/**
+ * The empty operator is a shorthand notation of the <code>read()</code> method.
+ */
+EncoderCounter::operator short() {
+    
+    return read();
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EncoderCounter.h	Mon Mar 09 16:23:04 2020 +0000
@@ -0,0 +1,34 @@
+/*
+ * EncoderCounter.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef ENCODER_COUNTER_H_
+#define ENCODER_COUNTER_H_
+
+#include <cstdlib>
+#include <mbed.h>
+
+/**
+ * This class implements a driver to read the quadrature
+ * encoder counter of the STM32 microcontroller.
+ */
+class EncoderCounter {
+    
+    public:
+        
+                    EncoderCounter(PinName a, PinName b);
+        virtual     ~EncoderCounter();
+        void        reset();
+        void        reset(short offset);
+        short       read();
+                    operator short();
+        
+    private:
+        
+        TIM_TypeDef*    TIM;
+};
+
+#endif /* ENCODER_COUNTER_H_ */
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IRSensor.cpp	Mon Mar 09 16:23:04 2020 +0000
@@ -0,0 +1,52 @@
+/*
+ * IRSensor.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include "IRSensor.h"
+
+using namespace std;
+
+/**
+ * Creates and initialises the driver to read the distance sensors.
+ * @param distance the analog input to read a distance value from.
+ * @param bit0 a digital output to control the multiplexer.
+ * @param bit1 a digital output to control the multiplexer.
+ * @param bit2 a digital output to control the multiplexer.
+ * @param number the number of the sensor. This value must be between 0 and 5.
+ */
+IRSensor::IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number) : distance(distance), bit0(bit0), bit1(bit1), bit2(bit2) {
+    
+    this->number = number;
+}
+
+/**
+ * Deletes this IRSensor object and releases all allocated resources.
+ */
+IRSensor::~IRSensor() {}
+
+/**
+ * This method reads from the distance sensor.
+ * @return a distance value, given in [m].
+ */
+float IRSensor::read() {
+
+    bit0 = (number >> 0) & 1;
+    bit1 = (number >> 1) & 1;
+    bit2 = (number >> 2) & 1;
+    
+    float d = -0.58f*sqrt(distance)+0.58f; // calculate the distance in [m]
+    
+    return d;
+}
+
+/**
+ * The empty operator is a shorthand notation of the <code>read()</code> method.
+ */
+IRSensor::operator float() {
+    
+    return read();
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IRSensor.h	Mon Mar 09 16:23:04 2020 +0000
@@ -0,0 +1,36 @@
+/*
+ * IRSensor.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef IR_SENSOR_H_
+#define IR_SENSOR_H_
+
+#include <cstdlib>
+#include <mbed.h>
+
+/**
+ * This class implements a driver to read the distance sensors
+ * of the ROME2 mobile robot.
+ */
+class IRSensor {
+
+    public:
+        
+                IRSensor(AnalogIn& distance, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, int number);
+        virtual ~IRSensor();
+        float   read();
+                operator float();
+        
+    private:
+        
+        AnalogIn&   distance;
+        DigitalOut& bit0;
+        DigitalOut& bit1;
+        DigitalOut& bit2;
+        int         number;
+};
+
+#endif /* IR_SENSOR_H_ */
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LowpassFilter.cpp	Mon Mar 09 16:23:04 2020 +0000
@@ -0,0 +1,112 @@
+/*
+ * LowpassFilter.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include "LowpassFilter.h"
+
+using namespace std;
+
+/**
+ * Creates a LowpassFilter object with a default cutoff frequency of 1000 [rad/s].
+ */
+LowpassFilter::LowpassFilter() {
+    
+    period = 1.0f;
+    frequency = 1000.0f;
+    
+    a11 = (1.0f+frequency*period)*exp(-frequency*period);
+    a12 = period*exp(-frequency*period);
+    a21 = -frequency*frequency*period*exp(-frequency*period);
+    a22 = (1.0f-frequency*period)*exp(-frequency*period);
+    b1 = (1.0f-(1.0f+frequency*period)*exp(-frequency*period))/frequency/frequency;
+    b2 = period*exp(-frequency*period);
+    
+    x1 = 0.0f;
+    x2 = 0.0f;
+}
+
+/**
+ * Deletes this LowpassFilter object.
+ */
+LowpassFilter::~LowpassFilter() {}
+
+/**
+ * Resets the filtered value to zero.
+ */
+void LowpassFilter::reset() {
+    
+    x1 = 0.0f;
+    x2 = 0.0f;
+}
+
+/**
+ * Resets the filtered value to a given value.
+ * @param value the value to reset the filter to.
+ */
+void LowpassFilter::reset(float value) {
+    
+    x1 = value/frequency/frequency;
+    x2 = (x1-a11*x1-b1*value)/a12;
+}
+
+/**
+ * Sets the sampling period of the filter.
+ * This is typically the sampling period of the periodic task of a controller that uses this filter.
+ * @param the sampling period, given in [s].
+ */
+void LowpassFilter::setPeriod(float period) {
+    
+    this->period = period;
+    
+    a11 = (1.0f+frequency*period)*exp(-frequency*period);
+    a12 = period*exp(-frequency*period);
+    a21 = -frequency*frequency*period*exp(-frequency*period);
+    a22 = (1.0f-frequency*period)*exp(-frequency*period);
+    b1 = (1.0f-(1.0f+frequency*period)*exp(-frequency*period))/frequency/frequency;
+    b2 = period*exp(-frequency*period);
+}
+
+/**
+ * Sets the cutoff frequency of this filter.
+ * @param frequency the cutoff frequency of the filter in [rad/s].
+ */
+void LowpassFilter::setFrequency(float frequency) {
+    
+    this->frequency = frequency;
+    
+    a11 = (1.0f+frequency*period)*exp(-frequency*period);
+    a12 = period*exp(-frequency*period);
+    a21 = -frequency*frequency*period*exp(-frequency*period);
+    a22 = (1.0f-frequency*period)*exp(-frequency*period);
+    b1 = (1.0f-(1.0f+frequency*period)*exp(-frequency*period))/frequency/frequency;
+    b2 = period*exp(-frequency*period);
+}
+
+/**
+ * Gets the current cutoff frequency of this filter.
+ * @return the current cutoff frequency in [rad/s].
+ */
+float LowpassFilter::getFrequency() {
+    
+    return frequency;
+}
+
+/**
+ * Filters a value.
+ * @param value the original unfiltered value.
+ * @return the filtered value.
+ */
+float LowpassFilter::filter(float value) {
+
+    float x1old = x1;
+    float x2old = x2;
+    
+    x1 = a11*x1old+a12*x2old+b1*value;
+    x2 = a21*x1old+a22*x2old+b2*value;
+    
+    return frequency*frequency*x1;
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LowpassFilter.h	Mon Mar 09 16:23:04 2020 +0000
@@ -0,0 +1,39 @@
+/*
+ * LowpassFilter.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef LOWPASS_FILTER_H_
+#define LOWPASS_FILTER_H_
+
+#include <cstdlib>
+
+/**
+ * This class implements a time-discrete 2nd order lowpass filter for a series of data values.
+ * This filter can typically be used within a periodic task that takes measurements that need
+ * to be filtered, like speed or position values.
+ */
+class LowpassFilter {
+    
+    public:
+    
+                LowpassFilter();
+        virtual ~LowpassFilter();
+        void    reset();
+        void    reset(float value);
+        void    setPeriod(float period);
+        void    setFrequency(float frequency);
+        float   getFrequency();
+        float   filter(float value);
+        
+    private:
+        
+        float   period;
+        float   frequency;
+        float   a11, a12, a21, a22, b1, b2;
+        float   x1, x2;
+};
+
+#endif /* LOWPASS_FILTER_H_ */
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Main.cpp	Mon Mar 09 16:23:04 2020 +0000
@@ -0,0 +1,92 @@
+/*
+ * Main.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include <mbed.h>
+#include "IRSensor.h"
+#include "EncoderCounter.h"
+#include "Controller.h"
+#include "StateMachine.h"
+
+int main() {
+    
+    // initialise digital inputs and outputs
+    
+    DigitalIn button(USER_BUTTON);
+    
+    DigitalOut ledGreen(LED1);
+    DigitalOut ledBlue(LED2);
+    DigitalOut ledRed(LED3);
+    
+    DigitalOut led0(PD_4);
+    DigitalOut led1(PD_3);
+    DigitalOut led2(PD_6);
+    DigitalOut led3(PD_2);
+    DigitalOut led4(PD_7);
+    DigitalOut led5(PD_5);
+    
+    // create distance sensor objects
+    
+    AnalogIn distance(PA_0);
+    DigitalOut enable(PG_1);
+    DigitalOut bit0(PF_0);
+    DigitalOut bit1(PF_1);
+    DigitalOut bit2(PF_2);
+    
+    enable = 1;
+    
+    IRSensor irSensor0(distance, bit0, bit1, bit2, 0);
+    IRSensor irSensor1(distance, bit0, bit1, bit2, 1);
+    IRSensor irSensor2(distance, bit0, bit1, bit2, 2);
+    IRSensor irSensor3(distance, bit0, bit1, bit2, 3);
+    IRSensor irSensor4(distance, bit0, bit1, bit2, 4);
+    IRSensor irSensor5(distance, bit0, bit1, bit2, 5);
+    
+    // create motor controller objects
+    
+    DigitalOut enableMotorDriver(PG_0); 
+    DigitalIn motorDriverFault(PD_1);
+    DigitalIn motorDriverWarning(PD_0);
+    
+    PwmOut pwmLeft(PF_9);
+    PwmOut pwmRight(PF_8);
+    
+    // create encoder counter objects
+    
+    EncoderCounter counterLeft(PD_12, PD_13);
+    EncoderCounter counterRight(PB_4, PC_7);
+    
+    // create robot controller objects
+    
+    Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
+    StateMachine stateMachine(controller, enableMotorDriver, led0, led1, led2, led3, led4, led5, button, irSensor0, irSensor1, irSensor2, irSensor3, irSensor4, irSensor5);
+    
+    // enter main loop
+    
+    while (true) {
+        
+        if (stateMachine.getState() == StateMachine::MOVE_FORWARD) {
+            
+            ledGreen = 1;
+            ledBlue = 0;
+            ledRed = 0;
+            
+        } else if ((stateMachine.getState() == StateMachine::TURN_LEFT) || (stateMachine.getState() == StateMachine::TURN_RIGHT)) {
+            
+            ledGreen = 1;
+            ledBlue = 1;
+            ledRed = 0;
+            
+        } else {
+            
+            ledGreen = 0;
+            ledBlue = 0;
+            ledRed = 1;
+        }
+        
+        wait(0.1);
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motion.cpp	Mon Mar 09 16:23:04 2020 +0000
@@ -0,0 +1,602 @@
+/*
+ * Motion.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include <algorithm>
+#include "Motion.h"
+
+using namespace std;
+
+const float Motion::DEFAULT_LIMIT = 1.0f;       // default value for limits
+const float Motion::MINIMUM_LIMIT = 1.0e-9f;    // smallest value allowed for limits
+
+/**
+ * Creates a <code>Motion</code> object.
+ * The values for position, velocity and acceleration are set to 0.
+ */
+Motion::Motion() {
+    
+    position = 0.0;
+    velocity = 0.0f;
+    
+    profileVelocity = DEFAULT_LIMIT;
+    profileAcceleration = DEFAULT_LIMIT;
+    profileDeceleration = DEFAULT_LIMIT;
+}
+
+/**
+ * Creates a <code>Motion</code> object with given values for position and velocity.
+ * @param position the initial position value of this motion, given in [m] or [rad].
+ * @param velocity the initial velocity value of this motion, given in [m/s] or [rad/s].
+ */
+Motion::Motion(double position, float velocity) {
+    
+    this->position = position;
+    this->velocity = velocity;
+    
+    profileVelocity = DEFAULT_LIMIT;
+    profileAcceleration = DEFAULT_LIMIT;
+    profileDeceleration = DEFAULT_LIMIT;
+}
+
+/**
+ * Creates a <code>Motion</code> object with given values for position and velocity.
+ * @param motion another <code>Motion</code> object to copy the values from.
+ */
+Motion::Motion(const Motion& motion) {
+    
+    position = motion.position;
+    velocity = motion.velocity;
+    
+    profileVelocity = motion.profileVelocity;
+    profileAcceleration = motion.profileAcceleration;
+    profileDeceleration = motion.profileDeceleration;
+}
+
+/**
+ * Deletes the Motion object.
+ */
+Motion::~Motion() {}
+
+/**
+ * Sets the values for position and velocity.
+ * @param position the desired position value of this motion, given in [m] or [rad].
+ * @param velocity the desired velocity value of this motion, given in [m/s] or [rad/s].
+ */
+void Motion::set(double position, float velocity) {
+    
+    this->position = position;
+    this->velocity = velocity;
+}
+
+/**
+ * Sets the values for position and velocity.
+ * @param motion another <code>Motion</code> object to copy the values from.
+ */
+void Motion::set(const Motion& motion) {
+    
+    position = motion.position;
+    velocity = motion.velocity;
+}
+
+/**
+ * Sets the position value.
+ * @param position the desired position value of this motion, given in [m] or [rad].
+ */
+void Motion::setPosition(double position) {
+    
+    this->position = position;
+}
+
+/**
+ * Gets the position value.
+ * @return the position value of this motion, given in [m] or [rad].
+ */
+double Motion::getPosition() {
+    
+    return position;
+}
+
+/**
+ * Sets the velocity value.
+ * @param velocity the desired velocity value of this motion, given in [m/s] or [rad/s].
+ */
+void Motion::setVelocity(float velocity) {
+    
+    this->velocity = velocity;
+}
+
+/**
+ * Gets the velocity value.
+ * @return the velocity value of this motion, given in [m/s] or [rad/s].
+ */
+float Motion::getVelocity() {
+    
+    return velocity;
+}
+
+/**
+ * Sets the limit for the velocity value.
+ * @param profileVelocity the limit of the velocity.
+ */
+void Motion::setProfileVelocity(float profileVelocity) {
+    
+    if (profileVelocity > MINIMUM_LIMIT) this->profileVelocity = profileVelocity; else this->profileVelocity = MINIMUM_LIMIT;
+}
+
+/**
+ * Sets the limit for the acceleration value.
+ * @param profileAcceleration the limit of the acceleration.
+ */
+void Motion::setProfileAcceleration(float profileAcceleration) {
+    
+    if (profileAcceleration > MINIMUM_LIMIT) this->profileAcceleration = profileAcceleration; else this->profileAcceleration = MINIMUM_LIMIT;
+}
+
+/**
+ * Sets the limit for the deceleration value.
+ * @param profileDeceleration the limit of the deceleration.
+ */
+void Motion::setProfileDeceleration(float profileDeceleration) {
+    
+    if (profileDeceleration > MINIMUM_LIMIT) this->profileDeceleration = profileDeceleration; else this->profileDeceleration = MINIMUM_LIMIT;
+}
+
+/**
+ * Sets the limits for velocity, acceleration and deceleration values.
+ * @param profileVelocity the limit of the velocity.
+ * @param profileAcceleration the limit of the acceleration.
+ * @param profileDeceleration the limit of the deceleration.
+ */
+void Motion::setLimits(float profileVelocity, float profileAcceleration, float profileDeceleration) {
+    
+    if (profileVelocity > MINIMUM_LIMIT) this->profileVelocity = profileVelocity; else this->profileVelocity = MINIMUM_LIMIT;
+    if (profileAcceleration > MINIMUM_LIMIT) this->profileAcceleration = profileAcceleration; else this->profileAcceleration = MINIMUM_LIMIT;
+    if (profileDeceleration > MINIMUM_LIMIT) this->profileDeceleration = profileDeceleration; else this->profileDeceleration = MINIMUM_LIMIT;
+}
+
+/**
+ * Gets the time needed to move to a given target position.
+ * @param targetPosition the desired target position given in [m] or [rad].
+ * @return the time to move to the target position, given in [s].
+ */
+float Motion::getTimeToPosition(double targetPosition) {
+    
+    // calculate position, when velocity is reduced to zero
+    
+    double stopPosition = (velocity > 0.0f) ? position+(double)(velocity*velocity/profileDeceleration*0.5f) : position-(double)(velocity*velocity/profileDeceleration*0.5f);
+    
+    if (targetPosition > stopPosition) { // positive velocity required
+        
+        if (velocity > profileVelocity) { // slow down to profile velocity first
+            
+            float t1 = (velocity-profileVelocity)/profileDeceleration;
+            float t2 = (float)(targetPosition-stopPosition)/profileVelocity;
+            float t3 = profileVelocity/profileDeceleration;
+            
+            return t1+t2+t3;
+            
+        } else if (velocity > 0.0f) { // speed up to profile velocity
+            
+            float t1 = (profileVelocity-velocity)/profileAcceleration;
+            float t3 = profileVelocity/profileDeceleration;
+            float t2 = ((float)(targetPosition-position)-(velocity+profileVelocity)*0.5f*t1)/profileVelocity-0.5f*t3;
+            
+            if (t2 < 0.0f) {
+                float maxVelocity = sqrt((2.0f*(float)(targetPosition-position)*profileAcceleration+velocity*velocity)*profileDeceleration/(profileAcceleration+profileDeceleration));
+                t1 = (maxVelocity-velocity)/profileAcceleration;
+                t2 = 0.0f;
+                t3 = maxVelocity/profileDeceleration;
+            }
+            
+            return t1+t2+t3;
+            
+        } else { // slow down to zero first, and then speed up to profile velocity
+            
+            float t1 = -velocity/profileDeceleration;
+            float t2 = profileVelocity/profileAcceleration;
+            float t4 = profileVelocity/profileDeceleration;
+            float t3 = ((float)(targetPosition-position)-velocity*0.5f*t1)/profileVelocity-0.5f*(t2+t4);
+            
+            if (t3 < 0.0f) {
+                float maxVelocity = sqrt((2.0f*(float)(targetPosition-position)*profileDeceleration+velocity*velocity)*profileAcceleration/(profileAcceleration+profileDeceleration));
+                t2 = maxVelocity/profileAcceleration;
+                t3 = 0.0f;
+                t4 = maxVelocity/profileDeceleration;
+            }
+            
+            return t1+t2+t3+t4;
+        }
+        
+    } else { // negative velocity required
+        
+        if (velocity < -profileVelocity) { // slow down to (negative) profile velocity first
+            
+            float t1 = (-profileVelocity-velocity)/profileDeceleration;
+            float t2 = (float)(stopPosition-targetPosition)/profileVelocity;
+            float t3 = profileVelocity/profileDeceleration;
+            
+            return t1+t2+t3;
+            
+        } else if (velocity < 0.0f) { // speed up to (negative) profile velocity
+            
+            float t1 = (velocity+profileVelocity)/profileAcceleration;
+            float t3 = profileVelocity/profileDeceleration;
+            float t2 = ((float)(position-targetPosition)+(velocity-profileVelocity)*0.5f*t1)/profileVelocity-0.5f*t3;
+            
+            if (t2 < 0.0f) {
+                float minVelocity = -sqrt((-2.0f*(float)(targetPosition-position)*profileAcceleration+velocity*velocity)*profileDeceleration/(profileAcceleration+profileDeceleration));
+                t1 = (velocity-minVelocity)/profileAcceleration;
+                t2 = 0.0f;
+                t3 = -minVelocity/profileDeceleration;
+            }
+            
+            return t1+t2+t3;
+            
+        } else { // slow down to zero first, and then speed up to (negative) profile velocity
+            
+            float t1 = velocity/profileDeceleration;
+            float t2 = profileVelocity/profileAcceleration;
+            float t4 = profileVelocity/profileDeceleration;
+            float t3 = (-(float)(targetPosition-position)+velocity*0.5f*t1)/profileVelocity-0.5f*(t2+t4);
+            
+            if (t3 < 0.0f) {
+                float minVelocity = -sqrt((-2.0f*(float)(targetPosition-position)*profileDeceleration+velocity*velocity)*profileAcceleration/(profileAcceleration+profileDeceleration));
+                t2 = -minVelocity/profileAcceleration;
+                t3 = 0.0f;
+                t4 = -minVelocity/profileDeceleration;
+            }
+            
+            return t1+t2+t3+t4;
+        }
+    }
+}
+
+/**
+ * Increments the current motion towards a given target velocity.
+ * @param targetVelocity the desired target velocity given in [m/s] or [rad/s].
+ * @param period the time period to increment the motion values for, given in [s].
+ */
+void Motion::incrementToVelocity(float targetVelocity, float period) {
+    
+    if (targetVelocity < -profileVelocity) targetVelocity = -profileVelocity;
+    else if (targetVelocity > profileVelocity) targetVelocity = profileVelocity;
+    
+    if (targetVelocity > 0.0f) {
+        
+        if (velocity > targetVelocity) { // slow down to target velocity
+            
+            float t1 = (velocity-targetVelocity)/profileDeceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*period)*period);
+                velocity += -profileDeceleration*period;
+            } else {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)(velocity*(period-t1));
+            }
+            
+        } else if (velocity > 0.0f) { // speed up to target velocity
+            
+            float t1 = (targetVelocity-velocity)/profileAcceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity+profileAcceleration*0.5f*period)*period);
+                velocity += profileAcceleration*period;
+            } else {
+                position += (double)((velocity+profileAcceleration*0.5f*t1)*t1);
+                velocity += profileAcceleration*t1;
+                position += (double)(velocity*(period-t1));
+            }
+            
+        } else { // slow down to zero first, and then speed up to target velocity
+            
+            float t1 = -velocity/profileDeceleration;
+            float t2 = targetVelocity/profileAcceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*period)*period);
+                velocity += profileDeceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)((velocity+profileAcceleration*0.5f*(period-t1))*(period-t1));
+                velocity += profileAcceleration*(period-t1);
+            } else {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)((velocity+profileAcceleration*0.5f*t2)*t2);
+                velocity += profileAcceleration*t2;
+                position += (double)(velocity*(period-t1-t2));
+            }
+        }
+        
+    } else {
+        
+        if (velocity < targetVelocity) { // slow down to (negative) target velocity
+            
+            float t1 = (targetVelocity-velocity)/profileDeceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*period)*period);
+                velocity += profileDeceleration*period;
+            } else {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)(velocity*(period-t1));
+            }
+            
+        } else if (velocity < 0.0f) { // speed up to (negative) target velocity
+            
+            float t1 = (velocity-targetVelocity)/profileAcceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity-profileAcceleration*0.5f*period)*period);
+                velocity += -profileAcceleration*period;
+            } else {
+                position += (double)((velocity-profileAcceleration*0.5f*t1)*t1);
+                velocity += -profileAcceleration*t1;
+                position += (double)(velocity*(period-t1));
+            }
+            
+        } else { // slow down to zero first, and then speed up to (negative) target velocity
+            
+            float t1 = velocity/profileDeceleration;
+            float t2 = -targetVelocity/profileAcceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*period)*period);
+                velocity += -profileDeceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)((velocity-profileAcceleration*0.5f*(period-t1))*(period-t1));
+                velocity += -profileAcceleration*(period-t1);
+            } else {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)((velocity-profileAcceleration*0.5f*t2)*t2);
+                velocity += -profileAcceleration*t2;
+                position += (double)(velocity*(period-t1-t2));
+            }
+        }
+    }
+}
+
+/**
+ * Increments the current motion towards a given target position.
+ * @param targetPosition the desired target position given in [m] or [rad].
+ * @param period the time period to increment the motion values for, given in [s].
+ */
+void Motion::incrementToPosition(double targetPosition, float period) {
+    
+    // calculate position, when velocity is reduced to zero
+    
+    double stopPosition = (velocity > 0.0f) ? position+(double)(velocity*velocity/profileDeceleration*0.5f) : position-(double)(velocity*velocity/profileDeceleration*0.5f);
+    
+    if (targetPosition > stopPosition) { // positive velocity required
+        
+        if (velocity > profileVelocity) { // slow down to profile velocity first
+            
+            float t1 = (velocity-profileVelocity)/profileDeceleration;
+            float t2 = (float)(targetPosition-stopPosition)/profileVelocity;
+            float t3 = profileVelocity/profileDeceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*period)*period);
+                velocity += -profileDeceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)(velocity*(period-t1));
+            } else if (t1+t2+t3 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity-profileDeceleration*0.5f*(period-t1-t2))*(period-t1-t2));
+                velocity += -profileDeceleration*(period-t1-t2);
+            } else {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity-profileDeceleration*0.5f*t3)*t3);
+                velocity += -profileDeceleration*t3;
+            }
+            
+        } else if (velocity > 0.0f) { // speed up to profile velocity
+            
+            float t1 = (profileVelocity-velocity)/profileAcceleration;
+            float t3 = profileVelocity/profileDeceleration;
+            float t2 = ((float)(targetPosition-position)-(velocity+profileVelocity)*0.5f*t1)/profileVelocity-0.5f*t3;
+            
+            if (t2 < 0.0f) {
+                float maxVelocity = sqrt((2.0f*(float)(targetPosition-position)*profileAcceleration+velocity*velocity)*profileDeceleration/(profileAcceleration+profileDeceleration));
+                t1 = (maxVelocity-velocity)/profileAcceleration;
+                t2 = 0.0f;
+                t3 = maxVelocity/profileDeceleration;
+            }
+            
+            if (t1 > period) {
+                position += (double)((velocity+profileAcceleration*0.5f*period)*period);
+                velocity += profileAcceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity+profileAcceleration*0.5f*t1)*t1);
+                velocity += profileAcceleration*t1;
+                position += (double)(velocity*(period-t1));
+            } else if (t1+t2+t3 > period) {
+                position += (double)((velocity+profileAcceleration*0.5f*t1)*t1);
+                velocity += profileAcceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity-profileDeceleration*0.5f*(period-t1-t2))*(period-t1-t2));
+                velocity += -profileDeceleration*(period-t1-t2);
+            } else {
+                position += (double)((velocity+profileAcceleration*0.5f*t1)*t1);
+                velocity += profileAcceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity-profileDeceleration*0.5f*t3)*t3);
+                velocity += -profileDeceleration*t3;
+            }
+            
+        } else { // slow down to zero first, and then speed up to profile velocity
+            
+            float t1 = -velocity/profileDeceleration;
+            float t2 = profileVelocity/profileAcceleration;
+            float t4 = profileVelocity/profileDeceleration;
+            float t3 = ((float)(targetPosition-position)-velocity*0.5f*t1)/profileVelocity-0.5f*(t2+t4);
+            
+            if (t3 < 0.0f) {
+                float maxVelocity = sqrt((2.0f*(float)(targetPosition-position)*profileDeceleration+velocity*velocity)*profileAcceleration/(profileAcceleration+profileDeceleration));
+                t2 = maxVelocity/profileAcceleration;
+                t3 = 0.0f;
+                t4 = maxVelocity/profileDeceleration;
+            }
+            
+            if (t1 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*period)*period);
+                velocity += profileDeceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)((velocity+profileAcceleration*0.5f*(period-t1))*(period-t1));
+                velocity += profileAcceleration*(period-t1);
+            } else if (t1+t2+t3 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)((velocity+profileAcceleration*0.5f*t2)*t2);
+                velocity += profileAcceleration*t2;
+                position += (double)(velocity*(period-t1-t2));
+            } else if (t1+t2+t3+t4 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)((velocity+profileAcceleration*0.5f*t2)*t2);
+                velocity += profileAcceleration*t2;
+                position += (double)(velocity*t3);
+                position += (double)((velocity-profileDeceleration*0.5f*(period-t1-t2-t3))*(period-t1-t2-t3));
+                velocity += -profileDeceleration*(period-t1-t2-t3);
+            } else {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)((velocity+profileAcceleration*0.5f*t2)*t2);
+                velocity += profileAcceleration*t2;
+                position += (double)(velocity*t3);
+                position += (double)((velocity-profileDeceleration*0.5f*t4)*t4);
+                velocity += -profileDeceleration*t4;
+            }
+        }
+        
+    } else { // negative velocity required
+        
+        if (velocity < -profileVelocity) { // slow down to (negative) profile velocity first
+            
+            float t1 = (-profileVelocity-velocity)/profileDeceleration;
+            float t2 = (float)(stopPosition-targetPosition)/profileVelocity;
+            float t3 = profileVelocity/profileDeceleration;
+            
+            if (t1 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*period)*period);
+                velocity += profileDeceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)(velocity*(period-t1));
+            } else if (t1+t2+t3 > period) {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity+profileDeceleration*0.5f*(period-t1-t2))*(period-t1-t2));
+                velocity += profileDeceleration*(period-t1-t2);
+            } else {
+                position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
+                velocity += profileDeceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity+profileDeceleration*0.5f*t3)*t3);
+                velocity += profileDeceleration*t3;
+            }
+            
+        } else if (velocity < 0.0f) { // speed up to (negative) profile velocity
+            
+            float t1 = (velocity+profileVelocity)/profileAcceleration;
+            float t3 = profileVelocity/profileDeceleration;
+            float t2 = ((float)(position-targetPosition)+(velocity-profileVelocity)*0.5f*t1)/profileVelocity-0.5f*t3;
+            
+            if (t2 < 0.0f) {
+                float minVelocity = -sqrt((-2.0f*(float)(targetPosition-position)*profileAcceleration+velocity*velocity)*profileDeceleration/(profileAcceleration+profileDeceleration));
+                t1 = (velocity-minVelocity)/profileAcceleration;
+                t2 = 0.0f;
+                t3 = -minVelocity/profileDeceleration;
+            }
+            
+            if (t1 > period) {
+                position += (double)((velocity-profileAcceleration*0.5f*period)*period);
+                velocity += -profileAcceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity-profileAcceleration*0.5f*t1)*t1);
+                velocity += -profileAcceleration*t1;
+                position += (double)(velocity*(period-t1));
+            } else if (t1+t2+t3 > period) {
+                position += (double)((velocity-profileAcceleration*0.5f*t1)*t1);
+                velocity += -profileAcceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity+profileDeceleration*0.5f*(period-t1-t2))*(period-t1-t2));
+                velocity += profileDeceleration*(period-t1-t2);
+            } else {
+                position += (double)((velocity-profileAcceleration*0.5f*t1)*t1);
+                velocity += -profileAcceleration*t1;
+                position += (double)(velocity*t2);
+                position += (double)((velocity+profileDeceleration*0.5f*t3)*t3);
+                velocity += profileDeceleration*t3;
+            }
+            
+        } else { // slow down to zero first, and then speed up to (negative) profile velocity
+            
+            float t1 = velocity/profileDeceleration;
+            float t2 = profileVelocity/profileAcceleration;
+            float t4 = profileVelocity/profileDeceleration;
+            float t3 = (-(float)(targetPosition-position)+velocity*0.5f*t1)/profileVelocity-0.5f*(t2+t4);
+            
+            if (t3 < 0.0f) {
+                float minVelocity = -sqrt((-2.0f*(float)(targetPosition-position)*profileDeceleration+velocity*velocity)*profileAcceleration/(profileAcceleration+profileDeceleration));
+                t2 = -minVelocity/profileAcceleration;
+                t3 = 0.0f;
+                t4 = -minVelocity/profileDeceleration;
+            }
+            
+            if (t1 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*period)*period);
+                velocity += -profileDeceleration*period;
+            } else if (t1+t2 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)((velocity-profileAcceleration*0.5f*(period-t1))*(period-t1));
+                velocity += -profileAcceleration*(period-t1);
+            } else if (t1+t2+t3 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)((velocity-profileAcceleration*0.5f*t2)*t2);
+                velocity += -profileAcceleration*t2;
+                position += (double)(velocity*(period-t1-t2));
+            } else if (t1+t2+t3+t4 > period) {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)((velocity-profileAcceleration*0.5f*t2)*t2);
+                velocity += -profileAcceleration*t2;
+                position += (double)(velocity*t3);
+                position += (double)((velocity+profileDeceleration*0.5f*(period-t1-t2-t3))*(period-t1-t2-t3));
+                velocity += profileDeceleration*(period-t1-t2-t3);
+            } else {
+                position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
+                velocity += -profileDeceleration*t1;
+                position += (double)((velocity-profileAcceleration*0.5f*t2)*t2);
+                velocity += -profileAcceleration*t2;
+                position += (double)(velocity*t3);
+                position += (double)((velocity+profileDeceleration*0.5f*t4)*t4);
+                velocity += profileDeceleration*t4;
+            }
+        }
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motion.h	Mon Mar 09 16:23:04 2020 +0000
@@ -0,0 +1,60 @@
+/*
+ * Motion.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef MOTION_H_
+#define MOTION_H_
+
+#include <cstdlib>
+
+/**
+ * This class keeps the motion values <code>position</code> and <code>velocity</code>, and
+ * offers methods to increment these values towards a desired target position or velocity.
+ * <br/>
+ * To increment the current motion values, this class uses a simple 2nd order motion planner.
+ * This planner calculates the motion to the target position or velocity with the various motion
+ * phases, based on given limits for the profile velocity, acceleration and deceleration.
+ * <br/>
+ * Note that the trajectory is calculated every time the motion state is incremented.
+ * This allows to change the target position or velocity, as well as the limits for profile
+ * velocity, acceleration and deceleration at any time.
+ */
+class Motion {
+    
+    public:
+        
+        double      position;       /**< The position value of this motion, given in [m] or [rad]. */
+        float       velocity;       /**< The velocity value of this motion, given in [m/s] or [rad/s]. */
+        
+                    Motion();
+                    Motion(double position, float velocity);
+                    Motion(const Motion& motion);
+        virtual     ~Motion();
+        void        set(double position, float velocity);
+        void        set(const Motion& motion);
+        void        setPosition(double position);
+        double      getPosition();
+        void        setVelocity(float velocity);
+        float       getVelocity();
+        void        setProfileVelocity(float profileVelocity);
+        void        setProfileAcceleration(float profileAcceleration);
+        void        setProfileDeceleration(float profileDeceleration);
+        void        setLimits(float profileVelocity, float profileAcceleration, float profileDeceleration);
+        float       getTimeToPosition(double targetPosition);
+        void        incrementToVelocity(float targetVelocity, float period);
+        void        incrementToPosition(double targetPosition, float period);
+        
+    private:
+        
+        static const float  DEFAULT_LIMIT;  // default value for limits
+        static const float  MINIMUM_LIMIT;  // smallest value allowed for limits
+        
+        float       profileVelocity;
+        float       profileAcceleration;
+        float       profileDeceleration;
+};
+
+#endif /* MOTION_H_ */
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StateMachine.cpp	Mon Mar 09 16:23:04 2020 +0000
@@ -0,0 +1,148 @@
+/*
+ * StateMachine.cpp
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include "StateMachine.h"
+
+using namespace std;
+
+const float StateMachine::PERIOD = 0.01f;                   // period of task in [s]
+const float StateMachine::DISTANCE_THRESHOLD = 0.25f;        // minimum allowed distance to obstacle in [m]
+const float StateMachine::TRANSLATIONAL_VELOCITY = 1.0f;    // translational velocity in [m/s]
+const float StateMachine::ROTATIONAL_VELOCITY = 1.5f;       // rotational velocity in [rad/s]
+
+/**
+ * Creates and initializes a state machine object.
+ */
+StateMachine::StateMachine(Controller& controller, DigitalOut& enableMotorDriver, DigitalOut& led0, DigitalOut& led1, DigitalOut& led2, DigitalOut& led3, DigitalOut& led4, DigitalOut& led5, DigitalIn& button, IRSensor& irSensor0, IRSensor& irSensor1, IRSensor& irSensor2, IRSensor& irSensor3, IRSensor& irSensor4, IRSensor& irSensor5) : controller(controller), enableMotorDriver(enableMotorDriver), led0(led0), led1(led1), led2(led2), led3(led3), led4(led4), led5(led5), button(button), irSensor0(irSensor0), irSensor1(irSensor1), irSensor2(irSensor2), irSensor3(irSensor3), irSensor4(irSensor4), irSensor5(irSensor5) {
+    
+    enableMotorDriver = 0;
+    state = ROBOT_OFF;
+    buttonNow = button;
+    buttonBefore = buttonNow;
+    
+    ticker.attach(callback(this, &StateMachine::run), PERIOD);
+}
+
+/**
+ * Deletes the state machine object and releases all allocated resources.
+ */
+StateMachine::~StateMachine() {
+    
+    ticker.detach();
+}
+
+/**
+ * Gets the actual state of this state machine.
+ * @return the actual state as an int constant.
+ */
+int StateMachine::getState() {
+    
+    return state;
+}
+
+/**
+ * This method is called periodically by the ticker object and implements the
+ * logic of the state machine.
+ */
+void StateMachine::run() {
+    
+    // set the leds based on distance measurements
+    
+    led0 = irSensor0 < DISTANCE_THRESHOLD;
+    led1 = irSensor1 < DISTANCE_THRESHOLD;
+    led2 = irSensor2 < DISTANCE_THRESHOLD;
+    led3 = irSensor3 < DISTANCE_THRESHOLD;
+    led4 = irSensor4 < DISTANCE_THRESHOLD;
+    led5 = irSensor5 < DISTANCE_THRESHOLD;
+    
+    // implementation of the state machine
+    
+    switch (state) {
+        
+        case ROBOT_OFF:
+            
+            buttonNow = button;
+            
+            if (buttonNow && !buttonBefore) {   // detect button rising edge
+                
+                enableMotorDriver = 1;
+                
+                controller.setTranslationalVelocity(TRANSLATIONAL_VELOCITY);
+                controller.setRotationalVelocity(0.0f);
+                
+                state = MOVE_FORWARD;
+            }
+            
+            buttonBefore = buttonNow;
+            
+            break;
+            
+        case MOVE_FORWARD:
+            
+            if (!led2 && !led3 && !led4) {
+                controller.setTranslationalVelocity(TRANSLATIONAL_VELOCITY);
+                controller.setRotationalVelocity(0.0f);
+                }
+            else if(led2 || (led2&&led3)){
+                state = TURN_LEFT;
+                }
+            else if(led4 || (led3&&led4)){
+                state = TURN_RIGHT;
+                }
+            else if(led2 && led3 && led4){
+               state = SLOWING_DOWN;
+               }
+                
+                
+            // bitte implementieren!
+            
+            break;
+            
+        case TURN_LEFT:
+       
+            
+           
+            if(led4 || led3 || (led4&&led3)){
+                controller.setTranslationalVelocity(0.0f);
+                controller.setRotationalVelocity(-ROTATIONAL_VELOCITY);
+                }
+         
+            state = MOVE_FORWARD;
+            // bitte implementieren!
+            
+            break;
+            
+        case TURN_RIGHT:
+        
+            if(led3 || led2 || (led2&&led3)){
+                controller.setTranslationalVelocity(0.0f);
+                controller.setRotationalVelocity(ROTATIONAL_VELOCITY);
+                }
+            
+            state = MOVE_FORWARD;
+            // bitte implementieren!
+            
+            break;
+            
+        case SLOWING_DOWN:
+            if (controller.getActualTranslationalVelocity()>0.0f){
+                    controller.setTranslationalVelocity(0.0f);
+            } else if (controller.getActualTranslationalVelocity()<= 0.0001f){
+                enableMotorDriver = 0;
+                }
+            state = ROBOT_OFF;
+            
+            // bitte implementieren!
+            
+            break;
+            
+        default:
+            
+            state = ROBOT_OFF;
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StateMachine.h	Mon Mar 09 16:23:04 2020 +0000
@@ -0,0 +1,66 @@
+/*
+ * StateMachine.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef STATE_MACHINE_H_
+#define STATE_MACHINE_H_
+
+#include <cstdlib>
+#include <mbed.h>
+#include "Controller.h"
+#include "IRSensor.h"
+
+/**
+ * This class implements a simple state machine for a mobile robot.
+ * It allows to move the robot forward, and to turn left or right,
+ * depending on distance measurements, to avoid collisions with
+ * obstacles.
+ */
+class StateMachine {
+    
+    public:
+        
+        static const int    ROBOT_OFF = 0;      // discrete states of this state machine
+        static const int    MOVE_FORWARD = 1;
+        static const int    TURN_LEFT = 2;
+        static const int    TURN_RIGHT = 3;
+        static const int    SLOWING_DOWN = 4;
+        
+                    StateMachine(Controller& controller, DigitalOut& enableMotorDriver, DigitalOut& led0, DigitalOut& led1, DigitalOut& led2, DigitalOut& led3, DigitalOut& led4, DigitalOut& led5, DigitalIn& button, IRSensor& irSensor0, IRSensor& irSensor1, IRSensor& irSensor2, IRSensor& irSensor3, IRSensor& irSensor4, IRSensor& irSensor5);
+        virtual     ~StateMachine();
+        int         getState();
+        
+    private:
+        
+        static const float  PERIOD;                 // period of task in [s]
+        static const float  DISTANCE_THRESHOLD;     // minimum allowed distance to obstacle in [m]
+        static const float  TRANSLATIONAL_VELOCITY; // translational velocity in [m/s]
+        static const float  ROTATIONAL_VELOCITY;    // rotational velocity in [rad/s]
+        
+        Controller&     controller;
+        DigitalOut&     enableMotorDriver;
+        DigitalOut&     led0;
+        DigitalOut&     led1;
+        DigitalOut&     led2;
+        DigitalOut&     led3;
+        DigitalOut&     led4;
+        DigitalOut&     led5;
+        DigitalIn&      button;
+        IRSensor&       irSensor0;
+        IRSensor&       irSensor1;
+        IRSensor&       irSensor2;
+        IRSensor&       irSensor3;
+        IRSensor&       irSensor4;
+        IRSensor&       irSensor5;
+        int             state;
+        int             buttonNow;
+        int             buttonBefore;
+        Ticker          ticker;
+        
+        void            run();
+};
+
+#endif /* STATE_MACHINE_H_ */
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Mar 09 16:23:04 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file