Denver Hayward / Drive

Drive thread library

drive.h@0:e5e9b52a35ae, 2017-08-23 (annotated)

Committer:
williampeers
Date:
Wed Aug 23 02:25:59 2017 +0000
Revision:
0:e5e9b52a35ae

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


williampeers

0:e5e9b52a35ae


     1

#ifndef __DRIVE_INCLUDED__





williampeers

0:e5e9b52a35ae


     2

#define __DRIVE_INCLUDED__





williampeers

0:e5e9b52a35ae


     3







williampeers

0:e5e9b52a35ae


     4

#include "mbed.h"





williampeers

0:e5e9b52a35ae


     5

#include "pid_controller.h"





williampeers

0:e5e9b52a35ae


     6







williampeers

0:e5e9b52a35ae


     7

#define PWMPERIOD 4096 //PWM period in us





williampeers

0:e5e9b52a35ae


     8







williampeers

0:e5e9b52a35ae


     9

#define KP 3





williampeers

0:e5e9b52a35ae


    10

#define KI 0.1





williampeers

0:e5e9b52a35ae


    11

#define KD 0.1





williampeers

0:e5e9b52a35ae


    12

#define PIDSAMPLERATE 0.1





williampeers

0:e5e9b52a35ae


    13







williampeers

0:e5e9b52a35ae


    14

class Driver {





williampeers

0:e5e9b52a35ae


    15

private:





williampeers

0:e5e9b52a35ae


    16

    PIDControl pidR;





williampeers

0:e5e9b52a35ae


    17

    PIDControl pidL;





williampeers

0:e5e9b52a35ae


    18







williampeers

0:e5e9b52a35ae


    19

    InterruptIn l_encoder1; //Left motor encoder signal 1





williampeers

0:e5e9b52a35ae


    20

    InterruptIn l_encoder2;   //Left motor encoder signal 2





williampeers

0:e5e9b52a35ae


    21

    InterruptIn r_encoder1; //Right motor encoder signal 3





williampeers

0:e5e9b52a35ae


    22

    InterruptIn r_encoder2;   //Right motor encoder signal 4





williampeers

0:e5e9b52a35ae


    23

    





williampeers

0:e5e9b52a35ae


    24

    PwmOut left_motor; // Forward Motor direction





williampeers

0:e5e9b52a35ae


    25

    PwmOut left_motor_rev; // Reverse Motor direction





williampeers

0:e5e9b52a35ae


    26

    PwmOut right_motor; // Forward Motor direction





williampeers

0:e5e9b52a35ae


    27

    PwmOut right_motor_rev; // Reverse Motor direction





williampeers

0:e5e9b52a35ae


    28







williampeers

0:e5e9b52a35ae


    29

    long lSpeedGoal;//Goal motor speed





williampeers

0:e5e9b52a35ae


    30

    long rSpeedGoal;





williampeers

0:e5e9b52a35ae


    31

    





williampeers

0:e5e9b52a35ae


    32

    long l_RPM;//Measured current speed





williampeers

0:e5e9b52a35ae


    33

    long r_RPM;





williampeers

0:e5e9b52a35ae


    34

    





williampeers

0:e5e9b52a35ae


    35

    Mutex lock;





williampeers

0:e5e9b52a35ae


    36

    





williampeers

0:e5e9b52a35ae


    37

    Thread driver_thread;





williampeers

0:e5e9b52a35ae


    38

    





williampeers

0:e5e9b52a35ae


    39

    unsigned int LoutA; //Holds left output A of encoder signal





williampeers

0:e5e9b52a35ae


    40

    unsigned int LoutB; //Holds left output B of encoder signal





williampeers

0:e5e9b52a35ae


    41

    unsigned int RoutA; //Holds Right output A of encoder signal





williampeers

0:e5e9b52a35ae


    42

    unsigned int RoutB; //Holds Right output B of encoder signal





williampeers

0:e5e9b52a35ae


    43

    





williampeers

0:e5e9b52a35ae


    44

    unsigned char l_enc_val; //Sequence that holds current and previous encoder combination values





williampeers

0:e5e9b52a35ae


    45

    unsigned char r_enc_val;





williampeers

0:e5e9b52a35ae


    46

    char l_enc_direction;





williampeers

0:e5e9b52a35ae


    47

    char r_enc_direction;





williampeers

0:e5e9b52a35ae


    48

    volatile long l_enc_count; //Holds current direction of left motor





williampeers

0:e5e9b52a35ae


    49

    volatile long r_enc_count; //Holds current direction of right motor





williampeers

0:e5e9b52a35ae


    50

    





williampeers

0:e5e9b52a35ae


    51

    //Ticker timer;





williampeers

0:e5e9b52a35ae


    52

    volatile long l_old_enc_count; //Hold old encounter value for computation





williampeers

0:e5e9b52a35ae


    53

    volatile long r_old_enc_count;





williampeers

0:e5e9b52a35ae


    54







williampeers

0:e5e9b52a35ae


    55

    void l_encode_trig();//function for handling encoder trigger





williampeers

0:e5e9b52a35ae


    56

    void r_encode_trig();





williampeers

0:e5e9b52a35ae


    57

    





williampeers

0:e5e9b52a35ae


    58

    void run();//function to run in thread (contains infinite loop)





williampeers

0:e5e9b52a35ae


    59

    





williampeers

0:e5e9b52a35ae


    60

    





williampeers

0:e5e9b52a35ae


    61

    DigitalOut my_led;





williampeers

0:e5e9b52a35ae


    62

    





williampeers

0:e5e9b52a35ae


    63

public:





williampeers

0:e5e9b52a35ae


    64

    Driver(osPriority, int);





williampeers

0:e5e9b52a35ae


    65

    void start(); //starts thread "pid" running run()





williampeers

0:e5e9b52a35ae


    66

    //void setVelocity(int speed, char* directoin);//called to set desired speed





williampeers

0:e5e9b52a35ae


    67

    void setVelocity(int lSpeed, int rSpeed);





williampeers

0:e5e9b52a35ae


    68

};





williampeers

0:e5e9b52a35ae


    69







williampeers

0:e5e9b52a35ae


    70

#endif