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Controller Class Reference

Controller Class Reference

This class implements a controller that regulates the speed of the two motors of the ROME2 mobile robot. More...

#include <Controller.h>

Public Member Functions

 Controller (PwmOut &pwmLeft, PwmOut &pwmRight, EncoderCounter &counterLeft, EncoderCounter &counterRight)
 Creates and initialises the robot controller.
virtual ~Controller ()
 Deletes this Controller object.
void setDesiredSpeedLeft (float desiredSpeedLeft)
 Sets the desired speed of the left motor.
void setDesiredSpeedRight (float desiredSpeedRight)
 Sets the desired speed of the right motor.

Detailed Description

This class implements a controller that regulates the speed of the two motors of the ROME2 mobile robot.

Definition at line 19 of file Controller.h.


Constructor & Destructor Documentation

Controller ( PwmOut &  pwmLeft,
PwmOut &  pwmRight,
EncoderCounter counterLeft,
EncoderCounter counterRight 
)

Creates and initialises the robot controller.

Parameters:
pwmLefta reference to the pwm output for the left motor.
pwmRighta reference to the pwm output for the right motor.
counterLefta reference to the encoder counter of the left motor.
counterRighta reference to the encoder counter of the right motor.

Definition at line 27 of file Controller.cpp.

~Controller (  ) [virtual]

Deletes this Controller object.

Definition at line 62 of file Controller.cpp.


Member Function Documentation

void setDesiredSpeedLeft ( float  desiredSpeedLeft )

Sets the desired speed of the left motor.

Parameters:
desiredSpeedLeftdesired speed given in [rpm].

Definition at line 71 of file Controller.cpp.

void setDesiredSpeedRight ( float  desiredSpeedRight )

Sets the desired speed of the right motor.

Parameters:
desiredSpeedRightdesired speed given in [rpm].

Definition at line 80 of file Controller.cpp.