Stefan Krickl / Controller

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Controller.h@0:7ab090cd6520, 2017-07-13 (annotated)

Committer:
skrickl
Date:
Thu Jul 13 13:42:50 2017 +0000
Revision:
0:7ab090cd6520
bla

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skrickl 0:7ab090cd6520 1
skrickl 0:7ab090cd6520 2 #ifndef CONTROLLER_H
skrickl 0:7ab090cd6520 3 #define CONTROLLER_H
skrickl 0:7ab090cd6520 4
skrickl 0:7ab090cd6520 5 #include "Pid_control.h"
skrickl 0:7ab090cd6520 6 #include "Motor.h"
skrickl 0:7ab090cd6520 7 #include "Brake.h"
skrickl 0:7ab090cd6520 8 #include "Steering.h"
skrickl 0:7ab090cd6520 9
skrickl 0:7ab090cd6520 10
skrickl 0:7ab090cd6520 11 #define max_throttle 50 // 50% maximum throttle
skrickl 0:7ab090cd6520 12 #define max_braking 50
skrickl 0:7ab090cd6520 13 #define braking_p1 1.0
skrickl 0:7ab090cd6520 14 #define braking_p2 2.0
skrickl 0:7ab090cd6520 15 #define braking_p3 4.0
skrickl 0:7ab090cd6520 16 #define speed_brake_1 5.0
skrickl 0:7ab090cd6520 17 #define speed_brake_2 10.0
skrickl 0:7ab090cd6520 18 #define speed_brake_3 50.0
skrickl 0:7ab090cd6520 19 #define min_speed 0.5 //at lower speeds vehicle will brake and stop
skrickl 0:7ab090cd6520 20
skrickl 0:7ab090cd6520 21
skrickl 0:7ab090cd6520 22 class Controller
skrickl 0:7ab090cd6520 23 {
skrickl 0:7ab090cd6520 24 public:
skrickl 0:7ab090cd6520 25 int update(int Status);
skrickl 0:7ab090cd6520 26
skrickl 0:7ab090cd6520 27 Controller();
skrickl 0:7ab090cd6520 28 ~Controller();
skrickl 0:7ab090cd6520 29
skrickl 0:7ab090cd6520 30
skrickl 0:7ab090cd6520 31 private:
skrickl 0:7ab090cd6520 32
skrickl 0:7ab090cd6520 33 Pid_control pid_control_speed;
skrickl 0:7ab090cd6520 34 Pid_control pid_control_steering;
skrickl 0:7ab090cd6520 35 Motor motor;
skrickl 0:7ab090cd6520 36 Brake brake;
skrickl 0:7ab090cd6520 37 Steering steering;
skrickl 0:7ab090cd6520 38
skrickl 0:7ab090cd6520 39 int _drive_direction;
skrickl 0:7ab090cd6520 40 int _drive_direction_old;
skrickl 0:7ab090cd6520 41 int _drive_direction_change;
skrickl 0:7ab090cd6520 42 int _target_speed;
skrickl 0:7ab090cd6520 43 int _actual_speed;
skrickl 0:7ab090cd6520 44 int _target_steering_angle;
skrickl 0:7ab090cd6520 45 int _actual_steering_angle;
skrickl 0:7ab090cd6520 46 int _u_steering;
skrickl 0:7ab090cd6520 47 int _u_throttle;
skrickl 0:7ab090cd6520 48
skrickl 0:7ab090cd6520 49
skrickl 0:7ab090cd6520 50 int Pid_controller(void);
skrickl 0:7ab090cd6520 51 void actuate(int u); // value -100 to 100 full braking to full throttle
skrickl 0:7ab090cd6520 52 void stop(void);
skrickl 0:7ab090cd6520 53
skrickl 0:7ab090cd6520 54 };
skrickl 0:7ab090cd6520 55
skrickl 0:7ab090cd6520 56 #endif