Andy K / SimpleTLE5206

Tripple Controller for the TLE5206 H Bridge motor controller

inc/SimpleTLE5206Profiler.h@3:b7d951c6f551, 2011-07-05 (annotated)

Committer:
AjK
Date:
Tue Jul 05 14:27:56 2011 +0000
Revision:
3:b7d951c6f551
Child:
4:d69f22061c03
0.5 Beta See ChangeLog.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AjK 3:b7d951c6f551 1 /*
AjK 3:b7d951c6f551 2 Copyright (c) 2011 Andy Kirkham
AjK 3:b7d951c6f551 3
AjK 3:b7d951c6f551 4 Permission is hereby granted, free of charge, to any person obtaining a copy
AjK 3:b7d951c6f551 5 of this software and associated documentation files (the "Software"), to deal
AjK 3:b7d951c6f551 6 in the Software without restriction, including without limitation the rights
AjK 3:b7d951c6f551 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
AjK 3:b7d951c6f551 8 copies of the Software, and to permit persons to whom the Software is
AjK 3:b7d951c6f551 9 furnished to do so, subject to the following conditions:
AjK 3:b7d951c6f551 10
AjK 3:b7d951c6f551 11 The above copyright notice and this permission notice shall be included in
AjK 3:b7d951c6f551 12 all copies or substantial portions of the Software.
AjK 3:b7d951c6f551 13
AjK 3:b7d951c6f551 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
AjK 3:b7d951c6f551 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
AjK 3:b7d951c6f551 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AjK 3:b7d951c6f551 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
AjK 3:b7d951c6f551 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
AjK 3:b7d951c6f551 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
AjK 3:b7d951c6f551 20 THE SOFTWARE.
AjK 3:b7d951c6f551 21 */
AjK 3:b7d951c6f551 22
AjK 3:b7d951c6f551 23
AjK 3:b7d951c6f551 24 #ifndef AJK_SIMPLETLE5206PROFILER_H
AjK 3:b7d951c6f551 25 #define AJK_SIMPLETLE5206PROFILER_H
AjK 3:b7d951c6f551 26
AjK 3:b7d951c6f551 27 #include "mbed.h"
AjK 3:b7d951c6f551 28 #include "SimpleTLE5206.h"
AjK 3:b7d951c6f551 29
AjK 3:b7d951c6f551 30 namespace AjK {
AjK 3:b7d951c6f551 31
AjK 3:b7d951c6f551 32 class SimpleTLE5206Profiler : public SimpleTLE5206 {
AjK 3:b7d951c6f551 33
AjK 3:b7d951c6f551 34 protected:
AjK 3:b7d951c6f551 35 Ticker _poll;
AjK 3:b7d951c6f551 36 double _desired_speed;
AjK 3:b7d951c6f551 37 double _actual_speed;
AjK 3:b7d951c6f551 38 double _accel_rate;
AjK 3:b7d951c6f551 39 double _decel_rate;
AjK 3:b7d951c6f551 40 int _poll_interval;
AjK 3:b7d951c6f551 41
AjK 3:b7d951c6f551 42 void poll(void)
AjK 3:b7d951c6f551 43 {
AjK 3:b7d951c6f551 44 if (_actual_speed < _desired_speed) {
AjK 3:b7d951c6f551 45 _actual_speed += _accel_rate;
AjK 3:b7d951c6f551 46 if (_actual_speed > _desired_speed) {
AjK 3:b7d951c6f551 47 _actual_speed = _desired_speed;
AjK 3:b7d951c6f551 48 }
AjK 3:b7d951c6f551 49 SimpleTLE5206::setSpeed(_actual_speed);
AjK 3:b7d951c6f551 50 }
AjK 3:b7d951c6f551 51 if (_actual_speed > _desired_speed) {
AjK 3:b7d951c6f551 52 _actual_speed -= _decel_rate;
AjK 3:b7d951c6f551 53 if (_actual_speed < _desired_speed) {
AjK 3:b7d951c6f551 54 _actual_speed = _desired_speed;
AjK 3:b7d951c6f551 55 }
AjK 3:b7d951c6f551 56 SimpleTLE5206::setSpeed(_actual_speed);
AjK 3:b7d951c6f551 57 }
AjK 3:b7d951c6f551 58 }
AjK 3:b7d951c6f551 59
AjK 3:b7d951c6f551 60 public:
AjK 3:b7d951c6f551 61
AjK 3:b7d951c6f551 62 friend class Ticker;
AjK 3:b7d951c6f551 63
AjK 3:b7d951c6f551 64 SimpleTLE5206Profiler(SimpleTLE5206Output *in1, SimpleTLE5206Output *in2, int duty_cycle_hz) :
AjK 3:b7d951c6f551 65 SimpleTLE5206(in1, in2, duty_cycle_hz)
AjK 3:b7d951c6f551 66 {
AjK 3:b7d951c6f551 67 _desired_speed = 0.0;
AjK 3:b7d951c6f551 68 _actual_speed = 0.0;
AjK 3:b7d951c6f551 69 _accel_rate = 0.01;
AjK 3:b7d951c6f551 70 _decel_rate = 0.01;
AjK 3:b7d951c6f551 71 _poll_interval = 10000; // 10ms
AjK 3:b7d951c6f551 72 _poll.attach_us(this, &SimpleTLE5206Profiler::poll, _poll_interval);
AjK 3:b7d951c6f551 73 }
AjK 3:b7d951c6f551 74
AjK 3:b7d951c6f551 75 int getPollInterval(void) { return _poll_interval; }
AjK 3:b7d951c6f551 76 void setPollInterval(int i)
AjK 3:b7d951c6f551 77 {
AjK 3:b7d951c6f551 78 _poll_interval = i;
AjK 3:b7d951c6f551 79 _poll.detach();
AjK 3:b7d951c6f551 80 _poll.attach_us(this, &SimpleTLE5206Profiler::poll, _poll_interval);
AjK 3:b7d951c6f551 81 }
AjK 3:b7d951c6f551 82
AjK 3:b7d951c6f551 83 void setAccelRate(double rate) { _accel_rate = rate; }
AjK 3:b7d951c6f551 84 double getAccelRate(void) { return _accel_rate; }
AjK 3:b7d951c6f551 85
AjK 3:b7d951c6f551 86 void setDecelRate(double rate) { _decel_rate = rate; }
AjK 3:b7d951c6f551 87 double getDecelRate(void) { return _decel_rate; }
AjK 3:b7d951c6f551 88
AjK 3:b7d951c6f551 89 void setSpeed(double demand_speed)
AjK 3:b7d951c6f551 90 {
AjK 3:b7d951c6f551 91 _desired_speed = demand_speed;
AjK 3:b7d951c6f551 92 }
AjK 3:b7d951c6f551 93
AjK 3:b7d951c6f551 94 double getSpeed(void) { return _actual_speed; }
AjK 3:b7d951c6f551 95
AjK 3:b7d951c6f551 96 void eStop(void)
AjK 3:b7d951c6f551 97 {
AjK 3:b7d951c6f551 98 _desired_speed = 0;
AjK 3:b7d951c6f551 99 SimpleTLE5206::setSpeed(_desired_speed);
AjK 3:b7d951c6f551 100 }
AjK 3:b7d951c6f551 101
AjK 3:b7d951c6f551 102
AjK 3:b7d951c6f551 103 };
AjK 3:b7d951c6f551 104
AjK 3:b7d951c6f551 105 }; // namespace AjK ends.
AjK 3:b7d951c6f551 106
AjK 3:b7d951c6f551 107
AjK 3:b7d951c6f551 108 #endif