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

Diff: SpeedController.h

Revision:
29:335fb9b01ca7
Parent:
10:fe74e8909d3f
--- a/SpeedController.h	Thu May 05 11:10:12 2022 +0000
+++ b/SpeedController.h	Fri May 13 20:53:33 2022 +0000
@@ -6,6 +6,7 @@
 #include "LowpassFilter.h"
 #include "ThreadFlag.h"
 #include "FastPWM.h"
+#include "Motion.h"
 
 class SpeedController
 {
@@ -20,6 +21,10 @@
     float    getSpeedRPM();
     void     setFeedForwardGain(float kn);
     void     setSpeedCntrlGain(float kp);
+    void     setMaxVelocityRPS(float maxVelocityRPS);
+    void     setMaxVelocityRPM(float maxVelocityRPM);
+    void     setMaxAccelerationRPS(float maxAccelerationRPS);
+    void     setMaxAccelerationRPM(float maxAccelerationRPM);
 
 private:
 
@@ -42,6 +47,8 @@
     float              desiredSpeed;
     float              actualSpeed;
     // float              actualAngle;
+    
+    Motion             motion;
 
     ThreadFlag         threadFlag;
     Thread             thread;