File content as of revision 8:1ca5a2052b0c:

#include<IMC_motorDrive.hpp>

IMC_motor::IMC_motor(Port encoder,int resolution,double wheel_ensyu,Port motor_,double K_,double Tau_,double dt_,bool CW_flag):K(K_),Tau(Tau_),dt(dt_),motor(motor_),cw_flag(CW_flag){
    motor_enc.specinit(encoder.pin[0],encoder.pin[1],wheel_ensyu,resolution,4);
    IMCreset();
}

void IMC_motor::IMCdrive(double target){
    drive((int)imc_out(target));
}

void IMC_motor::IMCreset(){
    out_pwm = 0;
    process_model_val = 0;    
}

void IMC_motor::drive(int pwm){
    float output_pwm = constrain(pwm,-200,200)/255;
    if(cw_flag){
        pwm = -pwm;    
    }
    if(!pwm) {
        DigitalOut Moter1(motor.pin[0],0);
        DigitalOut Moter2(motor.pin[1],0);
    } else if(pwm < 0) {
        PwmOut Moter1(motor.pin[0]);
        Moter1.period_us(256);
        Moter1.write(-output_pwm);
        DigitalOut Moter2(motor.pin[1],0);
    } else {
        DigitalOut Moter1(motor.pin[0],0);
        PwmOut Moter2(motor.pin[1]);
        Moter2.period_us(256);
        Moter2.write(output_pwm);
    }
}

double IMC_motor::imc_out(double target)
{
    out_pwm = imc_controler(target-(motor_enc.getSpeed()-process_model(process_model_val,out_pwm)));
    if(target==0){
        out_pwm = 0.0;    
    }
    return out_pwm;
}

double IMC_motor::imc_controler(double y){
    return y/K;
}

double IMC_motor::process_model(double x,double mv)
{
    process_model_val = x + (-x+K*mv)/(Tau*dt);
    return process_model_val;    
}