Diff: Controller.h

Revision:

37:698d6b73b50c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Controller.h	Tue May 10 10:04:51 2022 +0200
@@ -0,0 +1,76 @@
+/*
+ * Controller.h
+ * Copyright (c) 2022, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef CONTROLLER_H_
+#define CONTROLLER_H_
+
+#include <cstdlib>
+#include <mbed.h>
+#include "EncoderCounterROME2.h"
+#include "Motion.h"
+#include "LowpassFilter.h"
+#include "ThreadFlag.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, EncoderCounterROME2& counterLeft, EncoderCounterROME2& counterRight);
+        virtual ~Controller();
+        void    setTranslationalVelocity(float velocity);
+        void    setRotationalVelocity(float velocity);
+        float   getActualTranslationalVelocity();
+        float   getActualRotationalVelocity();
+        
+    private:
+        
+        static const unsigned int   STACK_SIZE = 4096;  // stack size of thread, given in [bytes]
+        static const float          PERIOD;             // period of control task, given in [s]
+        
+        static const float  M_PI;                       // the mathematical constant PI
+        static const float  WHEEL_DISTANCE;             // distance between wheels, given in [m]
+        static const float  WHEEL_RADIUS;               // radius of wheels, given in [m]
+        static const float  MAXIMUM_VELOCITY;           // maximum wheel velocity, given in [rpm]
+        static const float  MAXIMUM_ACCELERATION;       // maximum wheel acceleration, given in [rpm/s]
+        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;
+        EncoderCounterROME2&     counterLeft;
+        EncoderCounterROME2&     counterRight;
+        float               translationalVelocity;
+        float               rotationalVelocity;
+        float               actualTranslationalVelocity;
+        float               actualRotationalVelocity;
+        float               desiredSpeedLeft;
+        float               desiredSpeedRight;
+        float               actualSpeedLeft;
+        float               actualSpeedRight;
+        Motion              motionLeft;
+        Motion              motionRight;
+        short               previousValueCounterLeft;
+        short               previousValueCounterRight;
+        LowpassFilter       speedLeftFilter;
+        LowpassFilter       speedRightFilter;
+        ThreadFlag          threadFlag;
+        Thread              thread;
+        Ticker              ticker;
+        
+        void    sendThreadFlag();
+        void    run();
+};
+
+#endif /* CONTROLLER_H_ */