Sebastian Grünwald / PM2_Libary

PM2_Lib

Dependencies:   LSM9DS1 RangeFinder FastPWM

SpeedController.h@3:8b42e643b294, 2021-04-01 (annotated)

Committer:
pmic
Date:
Thu Apr 01 14:31:43 2021 +0000
Revision:
3:8b42e643b294
Child:
4:9c003c402033
Changed Controller to SpeedController to only speedcontrol one motor per instance.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 3:8b42e643b294 1 #ifndef SpeedController_H_
pmic 3:8b42e643b294 2 #define SpeedController_H_
pmic 3:8b42e643b294 3 #include <cstdlib>
pmic 3:8b42e643b294 4 #include <mbed.h>
pmic 3:8b42e643b294 5 #include "EncoderCounter.h"
pmic 3:8b42e643b294 6 #include "LowpassFilter.h"
pmic 3:8b42e643b294 7 #include "ThreadFlag.h"
pmic 3:8b42e643b294 8
pmic 3:8b42e643b294 9 class SpeedController
pmic 3:8b42e643b294 10 {
pmic 3:8b42e643b294 11
pmic 3:8b42e643b294 12 public:
pmic 3:8b42e643b294 13
pmic 3:8b42e643b294 14 SpeedController(PwmOut& pwm, EncoderCounter& encoderCounter);
pmic 3:8b42e643b294 15
pmic 3:8b42e643b294 16 virtual ~SpeedController();
pmic 3:8b42e643b294 17
pmic 3:8b42e643b294 18 void setDesiredSpeed(float desiredSpeed);
pmic 3:8b42e643b294 19 float getSpeed();
pmic 3:8b42e643b294 20
pmic 3:8b42e643b294 21 private:
pmic 3:8b42e643b294 22
pmic 3:8b42e643b294 23 static const float PERIOD;
pmic 3:8b42e643b294 24 static const float COUNTS_PER_TURN;
pmic 3:8b42e643b294 25 static const float LOWPASS_FILTER_FREQUENCY;
pmic 3:8b42e643b294 26 static const float KN;
pmic 3:8b42e643b294 27 static const float KP;
pmic 3:8b42e643b294 28 static const float MAX_VOLTAGE;
pmic 3:8b42e643b294 29 static const float MIN_DUTY_CYCLE;
pmic 3:8b42e643b294 30 static const float MAX_DUTY_CYCLE;
pmic 3:8b42e643b294 31
pmic 3:8b42e643b294 32 PwmOut& pwm;
pmic 3:8b42e643b294 33 EncoderCounter& encoderCounter;
pmic 3:8b42e643b294 34 short previousValueCounter;
pmic 3:8b42e643b294 35 LowpassFilter speedFilter;
pmic 3:8b42e643b294 36 float desiredSpeed;
pmic 3:8b42e643b294 37 float actualSpeed;
pmic 3:8b42e643b294 38 float actualAngle;
pmic 3:8b42e643b294 39
pmic 3:8b42e643b294 40 ThreadFlag threadFlag;
pmic 3:8b42e643b294 41 Thread thread;
pmic 3:8b42e643b294 42 Ticker ticker;
pmic 3:8b42e643b294 43
pmic 3:8b42e643b294 44 void sendThreadFlag();
pmic 3:8b42e643b294 45 void run();
pmic 3:8b42e643b294 46
pmic 3:8b42e643b294 47 };
pmic 3:8b42e643b294 48
pmic 3:8b42e643b294 49 #endif /* SpeedController_H_ */