Robert Zalog / Mbed 2 deprecated hermes_copy

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Dependencies:   mbed QEI beep

pid_controller.h@0:7a97ebb833eb, 2019-05-05 (annotated)

Committer:
rzalog
Date:
Sun May 05 00:02:11 2019 +0000
Revision:
0:7a97ebb833eb
test commit;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rzalog 0:7a97ebb833eb 1 #pragma once
rzalog 0:7a97ebb833eb 2
rzalog 0:7a97ebb833eb 3 #include "globals.h"
rzalog 0:7a97ebb833eb 4
rzalog 0:7a97ebb833eb 5 const float KpX = 0.01;
rzalog 0:7a97ebb833eb 6 const float KdX = 0.1;
rzalog 0:7a97ebb833eb 7
rzalog 0:7a97ebb833eb 8 const float KpW = 0.003;
rzalog 0:7a97ebb833eb 9 const float KdW = 0;
rzalog 0:7a97ebb833eb 10
rzalog 0:7a97ebb833eb 11 // for turning KpW=0.01, KdW=0.1
rzalog 0:7a97ebb833eb 12
rzalog 0:7a97ebb833eb 13 const float min_speed = 0.08;
rzalog 0:7a97ebb833eb 14 const float max_speed = 0.16;
rzalog 0:7a97ebb833eb 15
rzalog 0:7a97ebb833eb 16 const int done_limit = 150;
rzalog 0:7a97ebb833eb 17
rzalog 0:7a97ebb833eb 18 class PIDController {
rzalog 0:7a97ebb833eb 19 public:
rzalog 0:7a97ebb833eb 20 PIDController();
rzalog 0:7a97ebb833eb 21
rzalog 0:7a97ebb833eb 22 void reset() volatile;
rzalog 0:7a97ebb833eb 23 void update() volatile;
rzalog 0:7a97ebb833eb 24
rzalog 0:7a97ebb833eb 25 void setXGoal(int counts);
rzalog 0:7a97ebb833eb 26 void setWGoal(int counts);
rzalog 0:7a97ebb833eb 27
rzalog 0:7a97ebb833eb 28 bool isDone() volatile;
rzalog 0:7a97ebb833eb 29 char* getData();
rzalog 0:7a97ebb833eb 30 private:
rzalog 0:7a97ebb833eb 31 void getSensorFeedback() volatile;
rzalog 0:7a97ebb833eb 32 void x_controller() volatile;
rzalog 0:7a97ebb833eb 33 void w_controller() volatile;
rzalog 0:7a97ebb833eb 34 void updateMotorPwm() volatile;
rzalog 0:7a97ebb833eb 35
rzalog 0:7a97ebb833eb 36 int m_goalW;
rzalog 0:7a97ebb833eb 37 int m_goalX;
rzalog 0:7a97ebb833eb 38
rzalog 0:7a97ebb833eb 39 float m_pwmW;
rzalog 0:7a97ebb833eb 40 float m_pwmX;
rzalog 0:7a97ebb833eb 41
rzalog 0:7a97ebb833eb 42 int m_errorW;
rzalog 0:7a97ebb833eb 43 int m_errorX;
rzalog 0:7a97ebb833eb 44 int m_errorW_old;
rzalog 0:7a97ebb833eb 45 int m_errorX_old;
rzalog 0:7a97ebb833eb 46
rzalog 0:7a97ebb833eb 47 int m_countsW;
rzalog 0:7a97ebb833eb 48 int m_countsX;
rzalog 0:7a97ebb833eb 49
rzalog 0:7a97ebb833eb 50 char buf[200];
rzalog 0:7a97ebb833eb 51
rzalog 0:7a97ebb833eb 52 int m_doneCounter;
rzalog 0:7a97ebb833eb 53 };
rzalog 0:7a97ebb833eb 54