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Dependencies:   mbed QEI

headers/pid_controller.h@1:6f18bb7a77a5, 2018-11-15 (annotated)

Committer:
dionigi
Date:
Thu Nov 15 17:19:20 2018 +0000
Revision:
1:6f18bb7a77a5
Child:
3:35deb5c21b33
Added assignment3 files

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dionigi 1:6f18bb7a77a5 1 #pragma once
dionigi 1:6f18bb7a77a5 2
dionigi 1:6f18bb7a77a5 3 #include "globals.h"
dionigi 1:6f18bb7a77a5 4
dionigi 1:6f18bb7a77a5 5 const float KpX = 1;
dionigi 1:6f18bb7a77a5 6 const float KdX = 0;
dionigi 1:6f18bb7a77a5 7
dionigi 1:6f18bb7a77a5 8 const float KpW = 1;
dionigi 1:6f18bb7a77a5 9 const float KdW = 0;
dionigi 1:6f18bb7a77a5 10
dionigi 1:6f18bb7a77a5 11 class PIDController {
dionigi 1:6f18bb7a77a5 12 public:
dionigi 1:6f18bb7a77a5 13 PIDController();
dionigi 1:6f18bb7a77a5 14
dionigi 1:6f18bb7a77a5 15 void reset() volatile;
dionigi 1:6f18bb7a77a5 16 void update() volatile;
dionigi 1:6f18bb7a77a5 17
dionigi 1:6f18bb7a77a5 18 void setXGoal(int counts);
dionigi 1:6f18bb7a77a5 19 void setWGoal(int counts);
dionigi 1:6f18bb7a77a5 20
dionigi 1:6f18bb7a77a5 21 bool isDone() volatile;
dionigi 1:6f18bb7a77a5 22 char* getData();
dionigi 1:6f18bb7a77a5 23 private:
dionigi 1:6f18bb7a77a5 24 void getSensorFeedback() volatile;
dionigi 1:6f18bb7a77a5 25 void x_controller() volatile;
dionigi 1:6f18bb7a77a5 26 void w_controller() volatile;
dionigi 1:6f18bb7a77a5 27 void updateMotorPwm() volatile;
dionigi 1:6f18bb7a77a5 28
dionigi 1:6f18bb7a77a5 29 int m_goalW;
dionigi 1:6f18bb7a77a5 30 int m_goalX;
dionigi 1:6f18bb7a77a5 31
dionigi 1:6f18bb7a77a5 32 float m_pwmW;
dionigi 1:6f18bb7a77a5 33 float m_pwmX;
dionigi 1:6f18bb7a77a5 34
dionigi 1:6f18bb7a77a5 35 int m_errorW;
dionigi 1:6f18bb7a77a5 36 int m_errorX;
dionigi 1:6f18bb7a77a5 37 int m_errorW_old;
dionigi 1:6f18bb7a77a5 38 int m_errorX_old;
dionigi 1:6f18bb7a77a5 39
dionigi 1:6f18bb7a77a5 40 int m_countsW;
dionigi 1:6f18bb7a77a5 41 int m_countsX;
dionigi 1:6f18bb7a77a5 42
dionigi 1:6f18bb7a77a5 43 char buf[200];
dionigi 1:6f18bb7a77a5 44 };