Diff: RenBuggy_PID.h

Revision:

1:8a2a7adb3c5d

Parent:

0:f414c64e674f

--- a/RenBuggy_PID.h	Tue Mar 04 13:31:17 2014 +0000
+++ b/RenBuggy_PID.h	Wed Mar 05 13:37:10 2014 +0000
@@ -1,6 +1,6 @@
 /*******************************************************************************
 * RenBED PID Motor Control for RenBuggy                                        *
-* Copyright (c) 2014 Sally Brown                                               *
+* Copyright (c) 2014 Sally Brown & Liz Lloyd                                   *
 *                                                                              *
 * Permission is hereby granted, free of charge, to any person obtaining a copy *
 * of this software and associated documentation files (the "Software"), to deal*
@@ -36,42 +36,47 @@
 
 class PID_Controller
 {
-    public:
-        PID_Controller(PinName motorL, PinName motorR, PinName brakeL, PinName brakeR, PinName sensorL, PinName sensorR);
-    
-        void SetUpConstants(int numberStripes, float wheelCircumference);
+    public:    
+        void SetUpConstants(int countsPerRev, float wheelCircumference, float axleLength);
         
-        void Forwards(int countsForward);
+        void Forwards(int distanceForward);
         void Left(int angleLeft, int radiusLeft);
         void Right(int angleRight, int radiusRight);
         
+        void Stop();
+        
+        void ConfigurePID(float p, float i, float d);
+        
+        void countL();
+        void countR();
+        
+    protected:
+    
+        PID_Controller(PinName motorL, PinName motorR, PinName brakeL, PinName brakeR);
+        virtual void setUpControllers();
+        PID getLeftController() {return m_controllerL;}
+        PID getRightController() {return m_controllerR;}
+                       
     private:
     
         void doSomePID();
         void PIDLeft();
         void PIDRight();
         
-        void countL();
-        void countR();
-        
-        void setUpControllers();
-        
         PID     m_controllerL;  //Kc, Ti, Td, interval
         PID     m_controllerR;
-        
+               
         PwmOut  m_motorL;
         PwmOut  m_motorR;
         
         DigitalOut m_brakeL;
         DigitalOut m_brakeR;
-        
-        PinDetect   m_senseL;     //Left encoder. Pin detect type is the debouncing.
-        PinDetect   m_senseR; 
 
         Ticker  m_rate;
         
-        int     m_numberStrips;
+        int     m_countsPerRev;
         float   m_wheelCircumference;
+        float   m_axleLength;
 
         int     m_stripesL;
         int     m_stripesR;
@@ -81,9 +86,26 @@
         
         float   m_fProportionLeft;
         float   m_fProportionRight;
-        
-        int     m_iProportionLeft;
-        int     m_iProportionRight;
+};
+
+class PID_Stripes : public PID_Controller
+{
+    public:
+        PID_Stripes(PinName motorL, PinName motorR, PinName brakeL, PinName brakeR, PinName sensorL, PinName sensorR);
+    
+    private:        
+        PinDetect   m_senseL;     //Left encoder. Pin detect type is the debouncing.
+        PinDetect   m_senseR; 
+};
+
+class PID_Magnet : public PID_Controller
+{
+    public:
+        PID_Magnet(PinName motorL, PinName motorR, PinName brakeL, PinName brakeR, PinName sensorL, PinName sensorR);
+    
+    private:        
+        InterruptIn   m_senseL;     //Left encoder. 
+        InterruptIn   m_senseR; 
 };
 
 #endif    // _PIDCONTROLLER_H
\ No newline at end of file