PositionController.h

00001 #ifndef PositionController_H_
00002 #define PositionController_H_
00003 #include <cstdlib>
00004 #include <mbed.h>
00005 #include "EncoderCounter.h"
00006 #include "LowpassFilter.h"
00007 #include "ThreadFlag.h"
00008 #include "FastPWM.h"
00009 #include "Motion.h"
00010 
00011 class PositionController
00012 {
00013 public:
00014 
00015     PositionController(float counts_per_turn, float kn, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
00016     
00017     virtual ~PositionController();
00018 
00019     float    getSpeedRPM();
00020     float    getSpeedRPS();
00021     void     setDesiredRotation(float desiredRotation);
00022     float    getRotation();
00023     void     setFeedForwardGain(float kn);
00024     void     setSpeedCntrlGain(float kp);
00025     void     setPositionCntrlGain(float p);
00026     void     setMaxVelocityRPS(float maxVelocityRPS);
00027     void     setMaxVelocityRPM(float maxVelocityRPM);
00028     void     setMaxAccelerationRPS(float maxAccelerationRPS);
00029     void     setMaxAccelerationRPM(float maxAccelerationRPM);
00030 
00031 private:
00032 
00033     static const float TS;
00034     static const float LOWPASS_FILTER_FREQUENCY;
00035     static const float MIN_DUTY_CYCLE;
00036     static const float MAX_DUTY_CYCLE;
00037 
00038     float counts_per_turn;
00039     float kn;
00040     float kp;
00041     float max_voltage;
00042     float max_speed;
00043     float p;
00044 
00045     FastPWM&           pwm;
00046     EncoderCounter&    encoderCounter;
00047     short              previousValueCounter;
00048     LowpassFilter      speedFilter;
00049     float              desiredSpeed;
00050     float              actualSpeed;
00051     float              initialRotation;
00052     float              actualRotation;
00053     float              desiredRotation;
00054     
00055     Motion             motion;
00056 
00057     ThreadFlag         threadFlag;
00058     Thread             thread;
00059     Ticker             ticker;
00060 
00061     void               run();
00062     void               sendThreadFlag();
00063 };
00064 
00065 #endif /* PositionController_H_ */