Sebastian Grünwald / PM2_Libary

PM2_Lib

Dependencies:   LSM9DS1 RangeFinder FastPWM

PositionController.h@10:fe74e8909d3f, 2022-02-10 (annotated)

Committer:
pmic
Date:
Thu Feb 10 12:04:36 2022 +0000
Revision:
10:fe74e8909d3f
Parent:
8:6b747ad59ff5 
Minor adjustments.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 8:6b747ad59ff5 1 #ifndef PositionController_H_
pmic 8:6b747ad59ff5 2 #define PositionController_H_
pmic 8:6b747ad59ff5 3 #include <cstdlib>
pmic 8:6b747ad59ff5 4 #include <mbed.h>
pmic 8:6b747ad59ff5 5 #include "EncoderCounter.h"
pmic 8:6b747ad59ff5 6 #include "LowpassFilter.h"
pmic 8:6b747ad59ff5 7 #include "ThreadFlag.h"
pmic 8:6b747ad59ff5 8 #include "FastPWM.h"
pmic 8:6b747ad59ff5 9
pmic 8:6b747ad59ff5 10 class PositionController
pmic 8:6b747ad59ff5 11 {
pmic 8:6b747ad59ff5 12 public:
pmic 8:6b747ad59ff5 13
pmic 8:6b747ad59ff5 14 PositionController(float counts_per_turn, float kn, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
pmic 10:fe74e8909d3f 15 PositionController(float counts_per_turn, float kn, float kp, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
pmic 8:6b747ad59ff5 16 PositionController(float counts_per_turn, float kn, float kp, float p, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
pmic 8:6b747ad59ff5 17
pmic 8:6b747ad59ff5 18 virtual ~PositionController();
pmic 8:6b747ad59ff5 19
pmic 8:6b747ad59ff5 20 float getSpeedRPM();
pmic 8:6b747ad59ff5 21 float getSpeedRPS();
pmic 8:6b747ad59ff5 22 void setDesiredRotation(float desiredRotation);
pmic 8:6b747ad59ff5 23 void setDesiredRotation(float desiredRotation, float maxSpeedRPS);
pmic 8:6b747ad59ff5 24 float getRotation();
pmic 10:fe74e8909d3f 25 void setFeedForwardGain(float kn);
pmic 10:fe74e8909d3f 26 void setSpeedCntrlGain(float kp);
pmic 10:fe74e8909d3f 27 void setPositionCntrlGain(float p);
pmic 8:6b747ad59ff5 28
pmic 8:6b747ad59ff5 29 private:
pmic 8:6b747ad59ff5 30
pmic 8:6b747ad59ff5 31 static const float TS;
pmic 8:6b747ad59ff5 32 static const float LOWPASS_FILTER_FREQUENCY;
pmic 8:6b747ad59ff5 33 static const float MIN_DUTY_CYCLE;
pmic 8:6b747ad59ff5 34 static const float MAX_DUTY_CYCLE;
pmic 8:6b747ad59ff5 35
pmic 8:6b747ad59ff5 36 float counts_per_turn;
pmic 8:6b747ad59ff5 37 float kn;
pmic 8:6b747ad59ff5 38 float kp;
pmic 8:6b747ad59ff5 39 float max_voltage;
pmic 8:6b747ad59ff5 40 float max_speed;
pmic 8:6b747ad59ff5 41 float p;
pmic 8:6b747ad59ff5 42
pmic 8:6b747ad59ff5 43 FastPWM& pwm;
pmic 8:6b747ad59ff5 44 EncoderCounter& encoderCounter;
pmic 8:6b747ad59ff5 45 short previousValueCounter;
pmic 8:6b747ad59ff5 46 LowpassFilter speedFilter;
pmic 8:6b747ad59ff5 47 float desiredSpeed;
pmic 8:6b747ad59ff5 48 float actualSpeed;
pmic 8:6b747ad59ff5 49 float initialRotation;
pmic 8:6b747ad59ff5 50 float actualRotation;
pmic 8:6b747ad59ff5 51 float desiredRotation;
pmic 8:6b747ad59ff5 52
pmic 8:6b747ad59ff5 53 ThreadFlag threadFlag;
pmic 8:6b747ad59ff5 54 Thread thread;
pmic 8:6b747ad59ff5 55 Ticker ticker;
pmic 8:6b747ad59ff5 56
pmic 8:6b747ad59ff5 57 void run();
pmic 8:6b747ad59ff5 58 void sendThreadFlag();
pmic 8:6b747ad59ff5 59 };
pmic 8:6b747ad59ff5 60
pmic 8:6b747ad59ff5 61 #endif /* PositionController_H_ */