Michael Ernst Peter / PM2_Libary

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Dependencies:   LSM9DS1 RangeFinder FastPWM

Dependents:   PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board ... more

SpeedController.h@29:335fb9b01ca7, 2022-05-13 (annotated)

Committer:
pmic
Date:
Fri May 13 20:53:33 2022 +0000
Revision:
29:335fb9b01ca7
Parent:
10:fe74e8909d3f 
Motion integrated into SpeedController and PositionController class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 3:8b42e643b294 1 #ifndef SpeedController_H_
pmic 3:8b42e643b294 2 #define SpeedController_H_
pmic 3:8b42e643b294 3 #include <cstdlib>
pmic 3:8b42e643b294 4 #include <mbed.h>
pmic 3:8b42e643b294 5 #include "EncoderCounter.h"
pmic 3:8b42e643b294 6 #include "LowpassFilter.h"
pmic 3:8b42e643b294 7 #include "ThreadFlag.h"
pmic 5:6cd242a61e4c 8 #include "FastPWM.h"
pmic 29:335fb9b01ca7 9 #include "Motion.h"
pmic 3:8b42e643b294 10
pmic 3:8b42e643b294 11 class SpeedController
pmic 3:8b42e643b294 12 {
pmic 3:8b42e643b294 13 public:
pmic 3:8b42e643b294 14
pmic 6:41dd03654c44 15 SpeedController(float counts_per_turn, float kn, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
pmic 3:8b42e643b294 16
pmic 3:8b42e643b294 17 virtual ~SpeedController();
pmic 3:8b42e643b294 18
pmic 4:9c003c402033 19 void setDesiredSpeedRPS(float desiredSpeed);
pmic 4:9c003c402033 20 float getSpeedRPS();
pmic 10:fe74e8909d3f 21 float getSpeedRPM();
pmic 10:fe74e8909d3f 22 void setFeedForwardGain(float kn);
pmic 10:fe74e8909d3f 23 void setSpeedCntrlGain(float kp);
pmic 29:335fb9b01ca7 24 void setMaxVelocityRPS(float maxVelocityRPS);
pmic 29:335fb9b01ca7 25 void setMaxVelocityRPM(float maxVelocityRPM);
pmic 29:335fb9b01ca7 26 void setMaxAccelerationRPS(float maxAccelerationRPS);
pmic 29:335fb9b01ca7 27 void setMaxAccelerationRPM(float maxAccelerationRPM);
pmic 3:8b42e643b294 28
pmic 3:8b42e643b294 29 private:
pmic 3:8b42e643b294 30
pmic 10:fe74e8909d3f 31 void setDesiredSpeedRPM(float desiredSpeed);
pmic 10:fe74e8909d3f 32
pmic 6:41dd03654c44 33 static const float TS;
pmic 3:8b42e643b294 34 static const float LOWPASS_FILTER_FREQUENCY;
pmic 3:8b42e643b294 35 static const float MIN_DUTY_CYCLE;
pmic 3:8b42e643b294 36 static const float MAX_DUTY_CYCLE;
pmic 3:8b42e643b294 37
pmic 6:41dd03654c44 38 float counts_per_turn;
pmic 6:41dd03654c44 39 float kn;
pmic 6:41dd03654c44 40 float kp;
pmic 6:41dd03654c44 41 float max_voltage;
pmic 4:9c003c402033 42
pmic 5:6cd242a61e4c 43 FastPWM& pwm;
pmic 3:8b42e643b294 44 EncoderCounter& encoderCounter;
pmic 3:8b42e643b294 45 short previousValueCounter;
pmic 3:8b42e643b294 46 LowpassFilter speedFilter;
pmic 3:8b42e643b294 47 float desiredSpeed;
pmic 3:8b42e643b294 48 float actualSpeed;
pmic 4:9c003c402033 49 // float actualAngle;
pmic 29:335fb9b01ca7 50
pmic 29:335fb9b01ca7 51 Motion motion;
pmic 3:8b42e643b294 52
pmic 3:8b42e643b294 53 ThreadFlag threadFlag;
pmic 3:8b42e643b294 54 Thread thread;
pmic 3:8b42e643b294 55 Ticker ticker;
pmic 3:8b42e643b294 56
pmic 6:41dd03654c44 57 void run();
pmic 3:8b42e643b294 58 void sendThreadFlag();
pmic 3:8b42e643b294 59 };
pmic 3:8b42e643b294 60
pmic 3:8b42e643b294 61 #endif /* SpeedController_H_ */