Revision 3:b7d951c6f551, committed 2011-07-05

Comitter:

AjK

Date:

Tue Jul 05 14:27:56 2011 +0000

Parent:

2:c5fbe0cb8a97

Child:

4:d69f22061c03

Commit message:

0.5 Beta See ChangeLog.h

Changed in this revision

--- a/inc/ChangeLog.h	Tue Jul 05 13:50:45 2011 +0000
+++ b/inc/ChangeLog.h	Tue Jul 05 14:27:56 2011 +0000
@@ -1,5 +1,13 @@
 /*
 
+0.5 Beta 5/Jul/2011
+    * Added SimpleTLE5206Profiler.h which extends
+      the functionality to allow for linear acceleration
+      and deceleration profiles.
+    * Added example2.h to demonstrate the profiler.
+    * Added link to forum post in SimpleTLE5206.h
+    * Fixed some silly typos in comments.
+
 0.4 Beta 5/Jul/2011
     * Added this file, ChangeLog.h
     * Added the ability to specify the duty cycle in Hz.

--- a/inc/SimpleTLE5206.h	Tue Jul 05 13:50:45 2011 +0000
+++ b/inc/SimpleTLE5206.h	Tue Jul 05 14:27:56 2011 +0000
@@ -20,6 +20,10 @@
     THE SOFTWARE.
 */
 
+/*
+    See http://mbed.org/forum/mbed/topic/2463/
+*/
+
 #ifndef AJK_SIMPLETLE5206_H
 #define AJK_SIMPLETLE5206_H
 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/SimpleTLE5206Profiler.h	Tue Jul 05 14:27:56 2011 +0000
@@ -0,0 +1,108 @@
+/*
+    Copyright (c) 2011 Andy Kirkham
+ 
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+ 
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+ 
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+    THE SOFTWARE.
+*/
+
+
+#ifndef AJK_SIMPLETLE5206PROFILER_H
+#define AJK_SIMPLETLE5206PROFILER_H
+
+#include "mbed.h"
+#include "SimpleTLE5206.h"
+
+namespace AjK {
+
+class SimpleTLE5206Profiler : public SimpleTLE5206 {
+
+protected:
+    Ticker  _poll;
+    double  _desired_speed;
+    double  _actual_speed;
+    double  _accel_rate;
+    double  _decel_rate;
+    int     _poll_interval;
+
+    void poll(void) 
+    {
+        if (_actual_speed < _desired_speed) {
+            _actual_speed += _accel_rate;
+            if (_actual_speed > _desired_speed) {
+                _actual_speed = _desired_speed;
+            }
+            SimpleTLE5206::setSpeed(_actual_speed);
+        }
+        if (_actual_speed > _desired_speed) {
+            _actual_speed -= _decel_rate;
+            if (_actual_speed < _desired_speed) {
+                _actual_speed = _desired_speed;
+            }
+            SimpleTLE5206::setSpeed(_actual_speed);
+        }
+    }
+    
+public:
+
+    friend class Ticker;
+    
+    SimpleTLE5206Profiler(SimpleTLE5206Output *in1, SimpleTLE5206Output *in2, int duty_cycle_hz) : 
+        SimpleTLE5206(in1, in2, duty_cycle_hz) 
+    {
+        _desired_speed = 0.0;
+        _actual_speed  = 0.0;
+        _accel_rate = 0.01;
+        _decel_rate = 0.01;
+        _poll_interval = 10000; // 10ms
+        _poll.attach_us(this, &SimpleTLE5206Profiler::poll, _poll_interval);   
+    }
+    
+    int  getPollInterval(void)  { return _poll_interval; }
+    void setPollInterval(int i) 
+    { 
+        _poll_interval = i;
+        _poll.detach();
+        _poll.attach_us(this, &SimpleTLE5206Profiler::poll, _poll_interval);
+    }
+    
+    void setAccelRate(double rate) { _accel_rate = rate; } 
+    double getAccelRate(void) { return _accel_rate; } 
+    
+    void setDecelRate(double rate) { _decel_rate = rate; } 
+    double getDecelRate(void) { return _decel_rate; } 
+    
+    void setSpeed(double demand_speed)
+    {
+        _desired_speed = demand_speed;
+    }
+    
+    double getSpeed(void) { return _actual_speed; }
+    
+    void eStop(void) 
+    {
+        _desired_speed = 0;
+        SimpleTLE5206::setSpeed(_desired_speed);
+    }
+    
+   
+};
+
+}; // namespace AjK ends.
+
+
+#endif

--- a/inc/example1.h	Tue Jul 05 13:50:45 2011 +0000
+++ b/inc/example1.h	Tue Jul 05 14:27:56 2011 +0000
@@ -30,7 +30,7 @@
 
 #define DUTY_CYCLE_IN_HERTZ 50
 
-// Create a motor "A", driven by a TLE5206 on pins 21 and 22.
+// Create a motor "A", driven by a TLE5206 on pins 21 and 22 (attach scope first, not a motor!)
 SimpleTLE5206Output Ain1(p21);    // TLE5206 In1 is connected to p21
 SimpleTLE5206Output Ain2(p22);    // TLE5206 In2 is connected to p22
 SimpleTLE5206 motorA(&Ain1, &Ain2, DUTY_CYCLE_IN_HERTZ); // Create the TLE5206 controller.
@@ -100,7 +100,7 @@
     C.attach(Ccallback, 0.0025);
     
     while(1) {    
-        /* The main loop has little to do as the Ticker cakkbacks
+        /* The main loop has little to do as the Ticker callbacks
            set-up the speed changes for the example. So give it something 
            to do. Maybe change this and use the spare time to calculate PI 
            more accurately? Lol, just kidding. */

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/example2.h	Tue Jul 05 14:27:56 2011 +0000
@@ -0,0 +1,73 @@
+
+#include "mbed.h"
+#include "SimpleTLE5206Profiler.h"
+
+Serial pc(USBTX, USBRX);
+
+/* See example1.h for basic notes.
+ *
+ * This example shows how to use the acceleration and deceleration
+ * profiler to manage changing speed in a simple linear fashion.
+ *
+ * The default accel and decel rates are 0.01/10ms. So when a speed
+ * of say +1.0 is demanded, it actually takes 1seond to reach that
+ * target desired speed due to the acceleration profiler. Likewise
+ * for deceleration.
+ *
+ * You can adjust the rates by altering the "poll interval" and the
+ * step change size.
+ */
+
+#define DUTY_CYCLE_IN_HERTZ 50
+
+// Create a motor "A", driven by a TLE5206 on pins 21 and 22 (attach scope first, not a motor!)
+SimpleTLE5206Output Ain1(p21);    // TLE5206 In1 is connected to p21
+SimpleTLE5206Output Ain2(p22);    // TLE5206 In2 is connected to p22
+SimpleTLE5206Profiler motorA(&Ain1, &Ain2, DUTY_CYCLE_IN_HERTZ); // Create the TLE5206 controller.
+
+int main() {
+
+    pc.baud(115200);
+
+    while(1) {    
+        // Start from stationary.
+        motorA.setSpeed(0);
+        wait(1);
+        
+        // Command full desired speed CW
+        motorA.setSpeed(1.0);
+        
+        // Wait for it to reach that speed.
+        while( motorA.getSpeed() != 1.0) ;
+        
+        // Wait for 3seconds
+        wait(3);
+        
+        // Stop the motor
+        motorA.setSpeed(0.0);
+        while( motorA.getSpeed() != 0.0) ;   
+        
+        // Wait for 3seconds
+        wait(3);
+        
+        // Command full desired speed CCW
+        motorA.setSpeed(-1.0);
+        
+        // Wait for it to reach that speed.
+        while( motorA.getSpeed() != -1.0) ;
+        
+        // Wait for 3seconds
+        wait(3);
+        
+        // Stop the motor
+        motorA.setSpeed(0.0);
+        while( motorA.getSpeed() != 0.0) ;   
+        
+        // Wait for 3seconds
+        wait(3);
+
+        // repeat the cycle.        
+    }
+}
+
+