shinji sawai / omuni

3輪オムニホイール制御 GNCT, B team

Dependencies:   nucleo_rotary_encoder

speed_control/speed_control.hpp@0:3bd8aecadafc, 2017-09-28 (annotated)

Committer:
sawai
Date:
Thu Sep 28 10:50:37 2017 +0000
Revision:
0:3bd8aecadafc
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
sawai 0:3bd8aecadafc 1 #ifndef __SPEED_CONTROL__
sawai 0:3bd8aecadafc 2 #define __SPEED_CONTROL__
sawai 0:3bd8aecadafc 3
sawai 0:3bd8aecadafc 4 #include "mbed.h"
sawai 0:3bd8aecadafc 5 #include "rotary_encoder_ab_phase.hpp"
sawai 0:3bd8aecadafc 6
sawai 0:3bd8aecadafc 7 class speed_control
sawai 0:3bd8aecadafc 8 {
sawai 0:3bd8aecadafc 9 private:
sawai 0:3bd8aecadafc 10 rotary_encoder_ab_phase *e;
sawai 0:3bd8aecadafc 11 Timer t;
sawai 0:3bd8aecadafc 12 float kp, ki, kd;
sawai 0:3bd8aecadafc 13 float f1, f2, diff[2], m, dm, j;
sawai 0:3bd8aecadafc 14 float pulse_per_revol, cy_ms;
sawai 0:3bd8aecadafc 15 float target_value, sensor_value;
sawai 0:3bd8aecadafc 16 unsigned long time_counter;
sawai 0:3bd8aecadafc 17 int32_t e_value[10], pre_counts;
sawai 0:3bd8aecadafc 18 char duty;
sawai 0:3bd8aecadafc 19 bool rev;
sawai 0:3bd8aecadafc 20
sawai 0:3bd8aecadafc 21 public:
sawai 0:3bd8aecadafc 22 speed_control(TIM_TypeDef *timer_type, float _pulse_per_revol, float _cy_ms);
sawai 0:3bd8aecadafc 23 void change_direction(bool _rev);
sawai 0:3bd8aecadafc 24 void set_speed(float _target_value);
sawai 0:3bd8aecadafc 25 void set_pid(float _kp, float _ki, float _kd);
sawai 0:3bd8aecadafc 26 bool check_get_speed();
sawai 0:3bd8aecadafc 27 char get_duty();
sawai 0:3bd8aecadafc 28 float get_speed();
sawai 0:3bd8aecadafc 29 };
sawai 0:3bd8aecadafc 30
sawai 0:3bd8aecadafc 31 #endif