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:
4:9c003c402033
Parent:
3:8b42e643b294
Child:
5:6cd242a61e4c
diff -r 8b42e643b294 -r 9c003c402033 SpeedController.h
--- a/SpeedController.h	Thu Apr 01 14:31:43 2021 +0000
+++ b/SpeedController.h	Tue Apr 06 11:21:54 2021 +0000
@@ -8,34 +8,40 @@
 
 class SpeedController
 {
-
 public:
 
-    SpeedController(PwmOut& pwm, EncoderCounter& encoderCounter);
+    SpeedController(float COUNTS_PER_TURN, float KN, float KP, float MAX_VOLTAGE, PwmOut& pwm, EncoderCounter& encoderCounter);
 
     virtual ~SpeedController();
 
-    void     setDesiredSpeed(float desiredSpeed);
-    float    getSpeed();
+    void     setDesiredSpeedRPM(float desiredSpeed);
+    float    getSpeedRPM();
+    void     setDesiredSpeedRPS(float desiredSpeed);
+    float    getSpeedRPS();
 
 private:
 
     static const float PERIOD;
-    static const float COUNTS_PER_TURN;
+    // 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 KN;
+    // static const float KP;
+    // static const float MAX_VOLTAGE;
     static const float MIN_DUTY_CYCLE;
     static const float MAX_DUTY_CYCLE;
 
+    float COUNTS_PER_TURN;
+    float KN;
+    float KP;
+    float MAX_VOLTAGE;
+
     PwmOut&            pwm;
     EncoderCounter&    encoderCounter;
     short              previousValueCounter;
     LowpassFilter      speedFilter;
     float              desiredSpeed;
     float              actualSpeed;
-    float              actualAngle;
+    // float              actualAngle;
 
     ThreadFlag         threadFlag;
     Thread             thread;
@@ -43,7 +49,6 @@
 
     void               sendThreadFlag();
     void               run();
-
 };
 
 #endif /* SpeedController_H_ */
\ No newline at end of file