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Version12.04.18
Fork of Micromouse_beta by
Controller.h
- Committer:
- ruesipat
- Date:
- 2018-03-31
- Revision:
- 1:d9e840c48b1e
- Parent:
- 0:a9fe4ef404bf
File content as of revision 1:d9e840c48b1e:
#ifndef CONTROLLER_H_ #define CONTROLLER_H_ #include <cstdlib> #include <mbed.h> #include "EncoderCounter.h" #include "LowpassFilter.h" class Controller { public: Controller(PwmOut& pwmLeft, PwmOut& pwmRight, EncoderCounter& counterLeft, EncoderCounter& counterRight); virtual ~Controller(); void setDesiredSpeedLeft(float desiredSpeedLeft); void setDesiredSpeedRight(float desiredSpeedRight); float getSpeedLeft(); float getSpeedRight(); float getIntegralLeft(); float getIntegralRight(); float getProportionalLeft(); float getProportionalRight(); private: static const float PERIOD; static const float COUNTS_PER_TURN; static const float LOWPASS_FILTER_FREQUENCY; static const float KN; static const float KP; static const float KI; static const float I_MAX; static const float MAX_VOLTAGE; static const float MIN_DUTY_CYCLE; static const float MAX_DUTY_CYCLE; PwmOut& pwmLeft; PwmOut& pwmRight; EncoderCounter& counterLeft; EncoderCounter& counterRight; short previousValueCounterLeft; short previousValueCounterRight; LowpassFilter speedLeftFilter; LowpassFilter speedRightFilter; float desiredSpeedLeft; float desiredSpeedRight; float actualSpeedLeft; float actualSpeedRight; float iSumLeft; float iSumRight; Ticker ticker; void run(); }; #endif /* CONTROLLER_H_ */