Yuri De Stefani
programa final
HorizontalController/HorizontalController.h@8:1ad52489f6f3, 2018-11-30 (annotated)
- Committer:
- yurindes
- Date:
- Fri Nov 30 19:23:29 2018 +0000
- Branch:
- yuri
- Revision:
- 8:1ad52489f6f3
final;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| yurindes | 8:1ad52489f6f3 | 1 | #ifndef HorizontalController_h |
| yurindes | 8:1ad52489f6f3 | 2 | #define HorizontalController_h |
| yurindes | 8:1ad52489f6f3 | 3 | #include "mbed.h" |
| yurindes | 8:1ad52489f6f3 | 4 | #include "Library.h" |
| yurindes | 8:1ad52489f6f3 | 5 | // Horizontal controller class |
| yurindes | 8:1ad52489f6f3 | 6 | class HorizontalController |
| yurindes | 8:1ad52489f6f3 | 7 | { |
| yurindes | 8:1ad52489f6f3 | 8 | public : |
| yurindes | 8:1ad52489f6f3 | 9 | // Class constructor |
| yurindes | 8:1ad52489f6f3 | 10 | HorizontalController () ; |
| yurindes | 8:1ad52489f6f3 | 11 | // Control reference roll and pitch angles given reference horizontal positions and current horizontal positions and velocities |
| yurindes | 8:1ad52489f6f3 | 12 | void control ( float x_r , float y_r , float x, float y, float u, float v); |
| yurindes | 8:1ad52489f6f3 | 13 | // Reference roll and pitch angles ( rad) |
| yurindes | 8:1ad52489f6f3 | 14 | float phi_r , theta_r ; |
| yurindes | 8:1ad52489f6f3 | 15 | private : |
| yurindes | 8:1ad52489f6f3 | 16 | // Control acceleration given reference position and current position and velocity with given controller gains |
| yurindes | 8:1ad52489f6f3 | 17 | float control_single ( float pos_r , float pos , float vel , float kp_hori , float kd_hori); |
| yurindes | 8:1ad52489f6f3 | 18 | // Last horizontal positions error (m) |
| yurindes | 8:1ad52489f6f3 | 19 | float x_e_last , y_e_last ; |
| yurindes | 8:1ad52489f6f3 | 20 | float pos_e_last; |
| yurindes | 8:1ad52489f6f3 | 21 | }; |
| yurindes | 8:1ad52489f6f3 | 22 | # endif |