shinji sawai / Mbed 2 deprecated omuni_speed_pid

omuni

Dependencies:   mbed nucleo_rotary_encoder

omuni/speed_control/speed_control.hpp

Committer:
sawai
Date:
2017-08-17
Revision:
0:6da7d0e457a2

File content as of revision 0:6da7d0e457a2:

#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