drive.h

00001 #ifndef __DRIVE_INCLUDED__
00002 #define __DRIVE_INCLUDED__
00003 
00004 #include "mbed.h"
00005 #include "pid_controller.h"
00006 
00007 #define PWMPERIOD 4096 //PWM period in us
00008 
00009 #define KP 3
00010 #define KI 0.1
00011 #define KD 0.1
00012 #define PIDSAMPLERATE 0.1
00013 
00014 class Driver {
00015 private:
00016     PIDControl pidR;
00017     PIDControl pidL;
00018 
00019     InterruptIn l_encoder1; //Left motor encoder signal 1
00020     InterruptIn l_encoder2;   //Left motor encoder signal 2
00021     InterruptIn r_encoder1; //Right motor encoder signal 3
00022     InterruptIn r_encoder2;   //Right motor encoder signal 4
00023     
00024     PwmOut left_motor; // Forward Motor direction
00025     PwmOut left_motor_rev; // Reverse Motor direction
00026     PwmOut right_motor; // Forward Motor direction
00027     PwmOut right_motor_rev; // Reverse Motor direction
00028 
00029     long lSpeedGoal;//Goal motor speed
00030     long rSpeedGoal;
00031     
00032     long l_RPM;//Measured current speed
00033     long r_RPM;
00034     
00035     Mutex lock;
00036     
00037     Thread driver_thread;
00038     
00039     unsigned int LoutA; //Holds left output A of encoder signal
00040     unsigned int LoutB; //Holds left output B of encoder signal
00041     unsigned int RoutA; //Holds Right output A of encoder signal
00042     unsigned int RoutB; //Holds Right output B of encoder signal
00043     
00044     unsigned char l_enc_val; //Sequence that holds current and previous encoder combination values
00045     unsigned char r_enc_val;
00046     char l_enc_direction;
00047     char r_enc_direction;
00048     volatile long l_enc_count; //Holds current direction of left motor
00049     volatile long r_enc_count; //Holds current direction of right motor
00050     
00051     //Ticker timer;
00052     volatile long l_old_enc_count; //Hold old encounter value for computation
00053     volatile long r_old_enc_count;
00054 
00055     void l_encode_trig();//function for handling encoder trigger
00056     void r_encode_trig();
00057     
00058     void run();//function to run in thread (contains infinite loop)
00059     
00060     
00061     DigitalOut my_led;
00062     
00063 public:
00064     Driver(osPriority, int);
00065     void start(); //starts thread "pid" running run()
00066     //void setVelocity(int speed, char* directoin);//called to set desired speed
00067     void setVelocity(int lSpeed, int rSpeed);
00068 };
00069 
00070 #endif