Denver Hayward / Mbed OS Robot

Massey 2017, Group 5, AGV control software.

Dependencies:   Commands charQueue esp8266-driver

Drive/drive.h@1:87d8ac1a1e94, 2017-08-23 (annotated)

Committer:
williampeers
Date:
Wed Aug 23 02:17:18 2017 +0000
Revision:
1:87d8ac1a1e94
Parent:
0:91703b1eb29e 
First edition. Mostly just templates

Who changed what in which revision?

UserRevisionLine numberNew contents of line
williampeers 0:91703b1eb29e 1 #ifndef __DRIVE_INCLUDED__
williampeers 0:91703b1eb29e 2 #define __DRIVE_INCLUDED__
williampeers 0:91703b1eb29e 3
williampeers 0:91703b1eb29e 4 #include "mbed.h"
williampeers 0:91703b1eb29e 5 #include "pid_controller.h"
williampeers 0:91703b1eb29e 6
williampeers 0:91703b1eb29e 7 #define PWMPERIOD 4096 //PWM period in us
williampeers 0:91703b1eb29e 8
williampeers 0:91703b1eb29e 9 #define KP 3
williampeers 0:91703b1eb29e 10 #define KI 0.1
williampeers 0:91703b1eb29e 11 #define KD 0.1
williampeers 0:91703b1eb29e 12 #define PIDSAMPLERATE 0.1
williampeers 0:91703b1eb29e 13
williampeers 0:91703b1eb29e 14 class Driver {
williampeers 0:91703b1eb29e 15 private:
williampeers 0:91703b1eb29e 16 PIDControl pidR;
williampeers 0:91703b1eb29e 17 PIDControl pidL;
williampeers 0:91703b1eb29e 18
williampeers 0:91703b1eb29e 19 InterruptIn l_encoder1; //Left motor encoder signal 1
williampeers 0:91703b1eb29e 20 InterruptIn l_encoder2; //Left motor encoder signal 2
williampeers 0:91703b1eb29e 21 InterruptIn r_encoder1; //Right motor encoder signal 3
williampeers 0:91703b1eb29e 22 InterruptIn r_encoder2; //Right motor encoder signal 4
williampeers 0:91703b1eb29e 23
williampeers 0:91703b1eb29e 24 PwmOut left_motor; // Forward Motor direction
williampeers 0:91703b1eb29e 25 PwmOut left_motor_rev; // Reverse Motor direction
williampeers 0:91703b1eb29e 26 PwmOut right_motor; // Forward Motor direction
williampeers 0:91703b1eb29e 27 PwmOut right_motor_rev; // Reverse Motor direction
williampeers 0:91703b1eb29e 28
williampeers 0:91703b1eb29e 29 long lSpeedGoal;//Goal motor speed
williampeers 0:91703b1eb29e 30 long rSpeedGoal;
williampeers 0:91703b1eb29e 31
williampeers 0:91703b1eb29e 32 long l_RPM;//Measured current speed
williampeers 0:91703b1eb29e 33 long r_RPM;
williampeers 0:91703b1eb29e 34
williampeers 0:91703b1eb29e 35 Mutex lock;
williampeers 0:91703b1eb29e 36
williampeers 0:91703b1eb29e 37 Thread driver_thread;
williampeers 0:91703b1eb29e 38
williampeers 0:91703b1eb29e 39 unsigned int LoutA; //Holds left output A of encoder signal
williampeers 0:91703b1eb29e 40 unsigned int LoutB; //Holds left output B of encoder signal
williampeers 0:91703b1eb29e 41 unsigned int RoutA; //Holds Right output A of encoder signal
williampeers 0:91703b1eb29e 42 unsigned int RoutB; //Holds Right output B of encoder signal
williampeers 0:91703b1eb29e 43
williampeers 0:91703b1eb29e 44 unsigned char l_enc_val; //Sequence that holds current and previous encoder combination values
williampeers 0:91703b1eb29e 45 unsigned char r_enc_val;
williampeers 0:91703b1eb29e 46 char l_enc_direction;
williampeers 0:91703b1eb29e 47 char r_enc_direction;
williampeers 0:91703b1eb29e 48 volatile long l_enc_count; //Holds current direction of left motor
williampeers 0:91703b1eb29e 49 volatile long r_enc_count; //Holds current direction of right motor
williampeers 0:91703b1eb29e 50
williampeers 0:91703b1eb29e 51 //Ticker timer;
williampeers 0:91703b1eb29e 52 volatile long l_old_enc_count; //Hold old encounter value for computation
williampeers 0:91703b1eb29e 53 volatile long r_old_enc_count;
williampeers 0:91703b1eb29e 54
williampeers 0:91703b1eb29e 55 void l_encode_trig();//function for handling encoder trigger
williampeers 0:91703b1eb29e 56 void r_encode_trig();
williampeers 0:91703b1eb29e 57
williampeers 0:91703b1eb29e 58 void run();//function to run in thread (contains infinite loop)
williampeers 0:91703b1eb29e 59
williampeers 0:91703b1eb29e 60
williampeers 0:91703b1eb29e 61 DigitalOut my_led;
williampeers 0:91703b1eb29e 62
williampeers 0:91703b1eb29e 63 public:
williampeers 0:91703b1eb29e 64 Driver(osPriority, int);
williampeers 0:91703b1eb29e 65 void start(); //starts thread "pid" running run()
williampeers 0:91703b1eb29e 66 //void setVelocity(int speed, char* directoin);//called to set desired speed
williampeers 0:91703b1eb29e 67 void setVelocity(int lSpeed, int rSpeed);
williampeers 0:91703b1eb29e 68 };
williampeers 0:91703b1eb29e 69
williampeers 0:91703b1eb29e 70 #endif