kevin eccli / Mbed 2 deprecated Freescale_CupV4

Adaptation K22F

Dependencies:   mbed

Moteur.h@0:6004a7230f87, 2014-12-16 (annotated)

Committer:
singularity
Date:
Tue Dec 16 15:52:17 2014 +0000
Revision:
0:6004a7230f87
Creation k22F

Who changed what in which revision?

UserRevisionLine numberNew contents of line
singularity 0:6004a7230f87 1 #ifndef _MOTEUR_H
singularity 0:6004a7230f87 2 #define _MOTEUR_H
singularity 0:6004a7230f87 3
singularity 0:6004a7230f87 4 #include "mbed.h"
singularity 0:6004a7230f87 5 #include "Serie.h"
singularity 0:6004a7230f87 6 #include "Pid.h"
singularity 0:6004a7230f87 7
singularity 0:6004a7230f87 8
singularity 0:6004a7230f87 9 class Moteur
singularity 0:6004a7230f87 10 {
singularity 0:6004a7230f87 11 public:
singularity 0:6004a7230f87 12 Moteur(PinName pin_pwm1, PinName pin_pwm2, PinName pin_feedback, PinName pin_capteur1, PinName pin_capteur2);
singularity 0:6004a7230f87 13 void setVitesse(int v);
singularity 0:6004a7230f87 14 void setKp(float k);
singularity 0:6004a7230f87 15 void setKi(float k);
singularity 0:6004a7230f87 16 void setKd(float k);
singularity 0:6004a7230f87 17 void etalonnage();
singularity 0:6004a7230f87 18 void test1();
singularity 0:6004a7230f87 19 void test2();
singularity 0:6004a7230f87 20
singularity 0:6004a7230f87 21
singularity 0:6004a7230f87 22 void setVitesse(float v);
singularity 0:6004a7230f87 23 float getMesure();
singularity 0:6004a7230f87 24
singularity 0:6004a7230f87 25 protected:
singularity 0:6004a7230f87 26 void setPuissance(float p);
singularity 0:6004a7230f87 27 void asserv();
singularity 0:6004a7230f87 28 void majErreur();
singularity 0:6004a7230f87 29 void interruptCapteurRise();
singularity 0:6004a7230f87 30 void interruptCapteurFall();
singularity 0:6004a7230f87 31 void mesure();
singularity 0:6004a7230f87 32
singularity 0:6004a7230f87 33 //IN-OUT
singularity 0:6004a7230f87 34 AnalogIn feedbackCurrent;
singularity 0:6004a7230f87 35 PwmOut m1;
singularity 0:6004a7230f87 36 PwmOut m2;
singularity 0:6004a7230f87 37 InterruptIn capteur1;
singularity 0:6004a7230f87 38 DigitalIn capteur2;
singularity 0:6004a7230f87 39
singularity 0:6004a7230f87 40 //MESURE
singularity 0:6004a7230f87 41 Timer tmr;
singularity 0:6004a7230f87 42 float derniere_mesure;
singularity 0:6004a7230f87 43
singularity 0:6004a7230f87 44 //REGULATION
singularity 0:6004a7230f87 45 Pid regulateur;
singularity 0:6004a7230f87 46 Erreur erreur;
singularity 0:6004a7230f87 47 float vitesse_consigne;
singularity 0:6004a7230f87 48 };
singularity 0:6004a7230f87 49
singularity 0:6004a7230f87 50 #endif