Fabian Wenger / Mbed 2 deprecated Rainbow

Grundfunktionen für Micromouse

Dependencies:   AutomationElements mbed

MotorDriver/Controller.h@0:e38b500d6e74, 2018-04-19 (annotated)

Committer:
wengefa1
Date:
Thu Apr 19 11:31:49 2018 +0000
Revision:
0:e38b500d6e74
keine Regelung vorhanden

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wengefa1 0:e38b500d6e74 1 #ifndef CONTROLLER_H_
wengefa1 0:e38b500d6e74 2 #define CONTROLLER_H_
wengefa1 0:e38b500d6e74 3 #include <cstdlib>
wengefa1 0:e38b500d6e74 4 #include <mbed.h>
wengefa1 0:e38b500d6e74 5 #include "EncoderCounter.h"
wengefa1 0:e38b500d6e74 6 #include "LowpassFilter.h"
wengefa1 0:e38b500d6e74 7
wengefa1 0:e38b500d6e74 8 class Controller
wengefa1 0:e38b500d6e74 9 {
wengefa1 0:e38b500d6e74 10
wengefa1 0:e38b500d6e74 11 public:
wengefa1 0:e38b500d6e74 12
wengefa1 0:e38b500d6e74 13 Controller(PwmOut& pwmLeft, PwmOut& pwmRight,
wengefa1 0:e38b500d6e74 14 EncoderCounter& counterLeft, EncoderCounter& counterRight);
wengefa1 0:e38b500d6e74 15
wengefa1 0:e38b500d6e74 16 virtual ~Controller();
wengefa1 0:e38b500d6e74 17 void setDesiredSpeedLeft(float desiredSpeedLeft);
wengefa1 0:e38b500d6e74 18 void setDesiredSpeedRight(float desiredSpeedRight);
wengefa1 0:e38b500d6e74 19 void AttachTicker(void);
wengefa1 0:e38b500d6e74 20 void DetachTicker(void);
wengefa1 0:e38b500d6e74 21 float getSpeedLeft();
wengefa1 0:e38b500d6e74 22 float getSpeedRight();
wengefa1 0:e38b500d6e74 23 float getIntegralLeft();
wengefa1 0:e38b500d6e74 24 float getIntegralRight();
wengefa1 0:e38b500d6e74 25 float getProportionalLeft();
wengefa1 0:e38b500d6e74 26 float getProportionalRight();
wengefa1 0:e38b500d6e74 27
wengefa1 0:e38b500d6e74 28 private:
wengefa1 0:e38b500d6e74 29
wengefa1 0:e38b500d6e74 30 static const float PERIOD;
wengefa1 0:e38b500d6e74 31 static const float COUNTS_PER_TURN;
wengefa1 0:e38b500d6e74 32 static const float LOWPASS_FILTER_FREQUENCY;
wengefa1 0:e38b500d6e74 33 static const float KN;
wengefa1 0:e38b500d6e74 34 static const float KP;
wengefa1 0:e38b500d6e74 35 static const float KI;
wengefa1 0:e38b500d6e74 36 static const float I_MAX;
wengefa1 0:e38b500d6e74 37 static const float MAX_VOLTAGE;
wengefa1 0:e38b500d6e74 38 static const float MIN_DUTY_CYCLE;
wengefa1 0:e38b500d6e74 39 static const float MAX_DUTY_CYCLE;
wengefa1 0:e38b500d6e74 40
wengefa1 0:e38b500d6e74 41 PwmOut& pwmLeft;
wengefa1 0:e38b500d6e74 42 PwmOut& pwmRight;
wengefa1 0:e38b500d6e74 43 EncoderCounter& counterLeft;
wengefa1 0:e38b500d6e74 44 EncoderCounter& counterRight;
wengefa1 0:e38b500d6e74 45 short previousValueCounterLeft;
wengefa1 0:e38b500d6e74 46 short previousValueCounterRight;
wengefa1 0:e38b500d6e74 47 LowpassFilter speedLeftFilter;
wengefa1 0:e38b500d6e74 48 LowpassFilter speedRightFilter;
wengefa1 0:e38b500d6e74 49 float desiredSpeedLeft;
wengefa1 0:e38b500d6e74 50 float desiredSpeedRight;
wengefa1 0:e38b500d6e74 51 float actualSpeedLeft;
wengefa1 0:e38b500d6e74 52 float actualSpeedRight;
wengefa1 0:e38b500d6e74 53 float iSumLeft;
wengefa1 0:e38b500d6e74 54 float iSumRight;
wengefa1 0:e38b500d6e74 55 Ticker ticker;
wengefa1 0:e38b500d6e74 56
wengefa1 0:e38b500d6e74 57 void run();
wengefa1 0:e38b500d6e74 58
wengefa1 0:e38b500d6e74 59 };
wengefa1 0:e38b500d6e74 60
wengefa1 0:e38b500d6e74 61 #endif /* CONTROLLER_H_ */
wengefa1 0:e38b500d6e74 62
wengefa1 0:e38b500d6e74 63
wengefa1 0:e38b500d6e74 64
wengefa1 0:e38b500d6e74 65
wengefa1 0:e38b500d6e74 66
wengefa1 0:e38b500d6e74 67
wengefa1 0:e38b500d6e74 68