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omuni
Dependencies: mbed nucleo_rotary_encoder
omuni/speed_control/speed_control.hpp@0:6da7d0e457a2, 2017-08-17 (annotated)
- Committer:
- sawai
- Date:
- Thu Aug 17 03:49:34 2017 +0000
- Revision:
- 0:6da7d0e457a2
omuni
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sawai | 0:6da7d0e457a2 | 1 | #ifndef __SPEED_CONTROL__ |
sawai | 0:6da7d0e457a2 | 2 | #define __SPEED_CONTROL__ |
sawai | 0:6da7d0e457a2 | 3 | |
sawai | 0:6da7d0e457a2 | 4 | #include "mbed.h" |
sawai | 0:6da7d0e457a2 | 5 | #include "rotary_encoder_ab_phase.hpp" |
sawai | 0:6da7d0e457a2 | 6 | |
sawai | 0:6da7d0e457a2 | 7 | class speed_control |
sawai | 0:6da7d0e457a2 | 8 | { |
sawai | 0:6da7d0e457a2 | 9 | private: |
sawai | 0:6da7d0e457a2 | 10 | rotary_encoder_ab_phase *e; |
sawai | 0:6da7d0e457a2 | 11 | Timer t; |
sawai | 0:6da7d0e457a2 | 12 | float kp, ki, kd; |
sawai | 0:6da7d0e457a2 | 13 | float f1, f2, diff[2], m, dm, j; |
sawai | 0:6da7d0e457a2 | 14 | float pulse_per_revol, cy_ms; |
sawai | 0:6da7d0e457a2 | 15 | float target_value, sensor_value; |
sawai | 0:6da7d0e457a2 | 16 | unsigned long time_counter; |
sawai | 0:6da7d0e457a2 | 17 | int32_t e_value[10], pre_counts; |
sawai | 0:6da7d0e457a2 | 18 | char duty; |
sawai | 0:6da7d0e457a2 | 19 | |
sawai | 0:6da7d0e457a2 | 20 | public: |
sawai | 0:6da7d0e457a2 | 21 | speed_control(TIM_TypeDef *timer_type, float _pulse_per_revol, float _cy_ms); |
sawai | 0:6da7d0e457a2 | 22 | void set_speed(float _target_value); |
sawai | 0:6da7d0e457a2 | 23 | void set_pid(float _kp, float _ki, float _kd); |
sawai | 0:6da7d0e457a2 | 24 | bool check_get_speed(); |
sawai | 0:6da7d0e457a2 | 25 | char get_duty(); |
sawai | 0:6da7d0e457a2 | 26 | float get_speed(); |
sawai | 0:6da7d0e457a2 | 27 | }; |
sawai | 0:6da7d0e457a2 | 28 | |
sawai | 0:6da7d0e457a2 | 29 | #endif |