Diff: omuni/speed_control/speed_control.hpp

Revision:

0:6da7d0e457a2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/omuni/speed_control/speed_control.hpp	Thu Aug 17 03:49:34 2017 +0000
@@ -0,0 +1,29 @@
+#ifndef __SPEED_CONTROL__
+#define __SPEED_CONTROL__
+
+#include "mbed.h"
+#include "rotary_encoder_ab_phase.hpp"
+
+class speed_control
+{
+private:
+    rotary_encoder_ab_phase *e;
+    Timer t;
+    float kp, ki, kd;
+    float f1, f2, diff[2], m, dm, j;
+    float pulse_per_revol, cy_ms;
+    float target_value, sensor_value;
+    unsigned long time_counter;
+    int32_t e_value[10], pre_counts;
+    char duty;
+    
+public:
+    speed_control(TIM_TypeDef *timer_type, float _pulse_per_revol, float _cy_ms);
+    void set_speed(float _target_value);
+    void set_pid(float _kp, float _ki, float _kd);
+    bool check_get_speed();
+    char get_duty();
+    float get_speed();
+};
+
+#endif
\ No newline at end of file