Diff: drive.h

Revision:

0:e5e9b52a35ae

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drive.h	Wed Aug 23 02:25:59 2017 +0000
@@ -0,0 +1,70 @@
+#ifndef __DRIVE_INCLUDED__
+#define __DRIVE_INCLUDED__
+
+#include "mbed.h"
+#include "pid_controller.h"
+
+#define PWMPERIOD 4096 //PWM period in us
+
+#define KP 3
+#define KI 0.1
+#define KD 0.1
+#define PIDSAMPLERATE 0.1
+
+class Driver {
+private:
+    PIDControl pidR;
+    PIDControl pidL;
+
+    InterruptIn l_encoder1; //Left motor encoder signal 1
+    InterruptIn l_encoder2;   //Left motor encoder signal 2
+    InterruptIn r_encoder1; //Right motor encoder signal 3
+    InterruptIn r_encoder2;   //Right motor encoder signal 4
+    
+    PwmOut left_motor; // Forward Motor direction
+    PwmOut left_motor_rev; // Reverse Motor direction
+    PwmOut right_motor; // Forward Motor direction
+    PwmOut right_motor_rev; // Reverse Motor direction
+
+    long lSpeedGoal;//Goal motor speed
+    long rSpeedGoal;
+    
+    long l_RPM;//Measured current speed
+    long r_RPM;
+    
+    Mutex lock;
+    
+    Thread driver_thread;
+    
+    unsigned int LoutA; //Holds left output A of encoder signal
+    unsigned int LoutB; //Holds left output B of encoder signal
+    unsigned int RoutA; //Holds Right output A of encoder signal
+    unsigned int RoutB; //Holds Right output B of encoder signal
+    
+    unsigned char l_enc_val; //Sequence that holds current and previous encoder combination values
+    unsigned char r_enc_val;
+    char l_enc_direction;
+    char r_enc_direction;
+    volatile long l_enc_count; //Holds current direction of left motor
+    volatile long r_enc_count; //Holds current direction of right motor
+    
+    //Ticker timer;
+    volatile long l_old_enc_count; //Hold old encounter value for computation
+    volatile long r_old_enc_count;
+
+    void l_encode_trig();//function for handling encoder trigger
+    void r_encode_trig();
+    
+    void run();//function to run in thread (contains infinite loop)
+    
+    
+    DigitalOut my_led;
+    
+public:
+    Driver(osPriority, int);
+    void start(); //starts thread "pid" running run()
+    //void setVelocity(int speed, char* directoin);//called to set desired speed
+    void setVelocity(int lSpeed, int rSpeed);
+};
+
+#endif
\ No newline at end of file