Sally Brown / Mbed 2 deprecated RenBuggy_PID

Control for RenBuggy

Dependencies:   PID PinDetect mbed

RenBuggy_PID.h@1:8a2a7adb3c5d, 2014-03-05 (annotated)

Committer:
salatron
Date:
Wed Mar 05 13:37:10 2014 +0000
Revision:
1:8a2a7adb3c5d
Parent:
0:f414c64e674f 
Version two of RenBuggy with PID control

; Can use with two different configurations of buggys

Who changed what in which revision?

UserRevisionLine numberNew contents of line
salatron 0:f414c64e674f 1 /*******************************************************************************
salatron 0:f414c64e674f 2 * RenBED PID Motor Control for RenBuggy *
salatron 1:8a2a7adb3c5d 3 * Copyright (c) 2014 Sally Brown & Liz Lloyd *
salatron 0:f414c64e674f 4 * *
salatron 0:f414c64e674f 5 * Permission is hereby granted, free of charge, to any person obtaining a copy *
salatron 0:f414c64e674f 6 * of this software and associated documentation files (the "Software"), to deal*
salatron 0:f414c64e674f 7 * in the Software without restriction, including without limitation the rights *
salatron 0:f414c64e674f 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
salatron 0:f414c64e674f 9 * copies of the Software, and to permit persons to whom the Software is *
salatron 0:f414c64e674f 10 * furnished to do so, subject to the following conditions: *
salatron 0:f414c64e674f 11 * *
salatron 0:f414c64e674f 12 * The above copyright notice and this permission notice shall be included in *
salatron 0:f414c64e674f 13 * all copies or substantial portions of the Software. *
salatron 0:f414c64e674f 14 * *
salatron 0:f414c64e674f 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
salatron 0:f414c64e674f 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
salatron 0:f414c64e674f 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
salatron 0:f414c64e674f 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
salatron 0:f414c64e674f 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,*
salatron 0:f414c64e674f 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
salatron 0:f414c64e674f 21 * THE SOFTWARE. *
salatron 0:f414c64e674f 22 * *
salatron 0:f414c64e674f 23 * PID_Controller.h *
salatron 0:f414c64e674f 24 * *
salatron 0:f414c64e674f 25 *******************************************************************************/
salatron 0:f414c64e674f 26
salatron 0:f414c64e674f 27 #ifndef _PIDCONTROLLER_H
salatron 0:f414c64e674f 28 #define _PIDCONTROLLER_H
salatron 0:f414c64e674f 29
salatron 0:f414c64e674f 30 #include "mbed.h"
salatron 0:f414c64e674f 31 #include "PID.h"
salatron 0:f414c64e674f 32 #include "PinDetect.h"
salatron 0:f414c64e674f 33
salatron 0:f414c64e674f 34 #define pi 3.1416
salatron 0:f414c64e674f 35 #define RATE 0.001
salatron 0:f414c64e674f 36
salatron 0:f414c64e674f 37 class PID_Controller
salatron 0:f414c64e674f 38 {
salatron 1:8a2a7adb3c5d 39 public:
salatron 1:8a2a7adb3c5d 40 void SetUpConstants(int countsPerRev, float wheelCircumference, float axleLength);
salatron 0:f414c64e674f 41
salatron 1:8a2a7adb3c5d 42 void Forwards(int distanceForward);
salatron 0:f414c64e674f 43 void Left(int angleLeft, int radiusLeft);
salatron 0:f414c64e674f 44 void Right(int angleRight, int radiusRight);
salatron 0:f414c64e674f 45
salatron 1:8a2a7adb3c5d 46 void Stop();
salatron 1:8a2a7adb3c5d 47
salatron 1:8a2a7adb3c5d 48 void ConfigurePID(float p, float i, float d);
salatron 1:8a2a7adb3c5d 49
salatron 1:8a2a7adb3c5d 50 void countL();
salatron 1:8a2a7adb3c5d 51 void countR();
salatron 1:8a2a7adb3c5d 52
salatron 1:8a2a7adb3c5d 53 protected:
salatron 1:8a2a7adb3c5d 54
salatron 1:8a2a7adb3c5d 55 PID_Controller(PinName motorL, PinName motorR, PinName brakeL, PinName brakeR);
salatron 1:8a2a7adb3c5d 56 virtual void setUpControllers();
salatron 1:8a2a7adb3c5d 57 PID getLeftController() {return m_controllerL;}
salatron 1:8a2a7adb3c5d 58 PID getRightController() {return m_controllerR;}
salatron 1:8a2a7adb3c5d 59
salatron 0:f414c64e674f 60 private:
salatron 0:f414c64e674f 61
salatron 0:f414c64e674f 62 void doSomePID();
salatron 0:f414c64e674f 63 void PIDLeft();
salatron 0:f414c64e674f 64 void PIDRight();
salatron 0:f414c64e674f 65
salatron 0:f414c64e674f 66 PID m_controllerL; //Kc, Ti, Td, interval
salatron 0:f414c64e674f 67 PID m_controllerR;
salatron 1:8a2a7adb3c5d 68
salatron 0:f414c64e674f 69 PwmOut m_motorL;
salatron 0:f414c64e674f 70 PwmOut m_motorR;
salatron 0:f414c64e674f 71
salatron 0:f414c64e674f 72 DigitalOut m_brakeL;
salatron 0:f414c64e674f 73 DigitalOut m_brakeR;
salatron 0:f414c64e674f 74
salatron 0:f414c64e674f 75 Ticker m_rate;
salatron 0:f414c64e674f 76
salatron 1:8a2a7adb3c5d 77 int m_countsPerRev;
salatron 0:f414c64e674f 78 float m_wheelCircumference;
salatron 1:8a2a7adb3c5d 79 float m_axleLength;
salatron 0:f414c64e674f 80
salatron 0:f414c64e674f 81 int m_stripesL;
salatron 0:f414c64e674f 82 int m_stripesR;
salatron 0:f414c64e674f 83
salatron 0:f414c64e674f 84 bool m_turnLeft;
salatron 0:f414c64e674f 85 bool m_turnRight;
salatron 0:f414c64e674f 86
salatron 0:f414c64e674f 87 float m_fProportionLeft;
salatron 0:f414c64e674f 88 float m_fProportionRight;
salatron 1:8a2a7adb3c5d 89 };
salatron 1:8a2a7adb3c5d 90
salatron 1:8a2a7adb3c5d 91 class PID_Stripes : public PID_Controller
salatron 1:8a2a7adb3c5d 92 {
salatron 1:8a2a7adb3c5d 93 public:
salatron 1:8a2a7adb3c5d 94 PID_Stripes(PinName motorL, PinName motorR, PinName brakeL, PinName brakeR, PinName sensorL, PinName sensorR);
salatron 1:8a2a7adb3c5d 95
salatron 1:8a2a7adb3c5d 96 private:
salatron 1:8a2a7adb3c5d 97 PinDetect m_senseL; //Left encoder. Pin detect type is the debouncing.
salatron 1:8a2a7adb3c5d 98 PinDetect m_senseR;
salatron 1:8a2a7adb3c5d 99 };
salatron 1:8a2a7adb3c5d 100
salatron 1:8a2a7adb3c5d 101 class PID_Magnet : public PID_Controller
salatron 1:8a2a7adb3c5d 102 {
salatron 1:8a2a7adb3c5d 103 public:
salatron 1:8a2a7adb3c5d 104 PID_Magnet(PinName motorL, PinName motorR, PinName brakeL, PinName brakeR, PinName sensorL, PinName sensorR);
salatron 1:8a2a7adb3c5d 105
salatron 1:8a2a7adb3c5d 106 private:
salatron 1:8a2a7adb3c5d 107 InterruptIn m_senseL; //Left encoder.
salatron 1:8a2a7adb3c5d 108 InterruptIn m_senseR;
salatron 0:f414c64e674f 109 };
salatron 0:f414c64e674f 110
salatron 0:f414c64e674f 111 #endif // _PIDCONTROLLER_H