Diff: HipControl.h

Revision:

1:d87dac5c3658

Parent:

0:911517b34248

--- a/HipControl.h	Wed Nov 19 22:11:34 2014 +0000
+++ b/HipControl.h	Wed Jun 24 01:07:55 2015 +0000
@@ -22,6 +22,8 @@
 * @brief Control algorithms
 */
 
+//TODO: (Brad) Port to base-class structure
+
 #include "mbed.h"
 #include "filter.h"
 
@@ -29,18 +31,47 @@
 {
 public:
     HipControl(PinName pwm, PinName dirpin);
+
+    /**
+    * 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
+    */
+    //class
     void FL(float ref, float pos);
-    void FL_new(float ref, float pos);
+
+    /**
+    * 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
+    */
+    //class
     void PD(float ref, float pos);
+//class
     void P(float ref, float pos);
+    //base method
     void setGains(float P, float D);
+    //base method
     void setSat(float limit);
+    //base method
     void sampleTime(float time);
+    //class
     void openLoop(float input);
-    float read();
+    //base method
+    float readPWM();
+    //class
     void off();
+    //base method
     void flip();
+    //base method
     void clear();
+    //base method
     void pwmPeriod(float a);
 private:
     //Controller Parameters
@@ -48,31 +79,30 @@
     PwmOut _pwm;
     DigitalOut _dir;
     float Kp;
+    /**
+    * Initial proportional gain before cosine gain schedule
+    */
     const float Kp0;
+    /**
+    * Derivative gain
+    */
     float Kd;
+    /**
+    * Commanded current saturation
+    */
     float sat;
     float u;
     float u_prev;
     float error[2];
-    float T;
+    //sample period
+    float _sample_period;
     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
 */
@@ -92,20 +122,5 @@
 
 #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
-*/
\ No newline at end of file
+