SimpleTLE5206Profiler.h

00001 /*
00002     Copyright (c) 2011 Andy Kirkham
00003  
00004     Permission is hereby granted, free of charge, to any person obtaining a copy
00005     of this software and associated documentation files (the "Software"), to deal
00006     in the Software without restriction, including without limitation the rights
00007     to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008     copies of the Software, and to permit persons to whom the Software is
00009     furnished to do so, subject to the following conditions:
00010  
00011     The above copyright notice and this permission notice shall be included in
00012     all copies or substantial portions of the Software.
00013  
00014     THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015     IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016     FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017     AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018     LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019     OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020     THE SOFTWARE.
00021 */
00022 
00023 
00024 #ifndef AJK_SIMPLETLE5206PROFILER_H
00025 #define AJK_SIMPLETLE5206PROFILER_H
00026 
00027 #include "mbed.h"
00028 #include "SimpleTLE5206.h"
00029 
00030 namespace AjK {
00031 
00032 class SimpleTLE5206Profiler : public SimpleTLE5206 {
00033 
00034 protected:
00035     Ticker  _poll;
00036     double  _desired_speed;
00037     double  _actual_speed;
00038     double  _accel_rate;
00039     double  _decel_rate;
00040     int     _poll_interval;
00041 
00042     void poll(void) 
00043     {
00044         if (_actual_speed < _desired_speed) {
00045             _actual_speed += _accel_rate;
00046             if (_actual_speed > _desired_speed) {
00047                 _actual_speed = _desired_speed;
00048             }
00049             SimpleTLE5206::setSpeed(_actual_speed);
00050         }
00051         if (_actual_speed > _desired_speed) {
00052             _actual_speed -= _decel_rate;
00053             if (_actual_speed < _desired_speed) {
00054                 _actual_speed = _desired_speed;
00055             }
00056             SimpleTLE5206::setSpeed(_actual_speed);
00057         }
00058     }
00059     
00060 public:
00061 
00062     friend class Ticker;
00063     
00064     SimpleTLE5206Profiler(SimpleTLE5206Output *in1, SimpleTLE5206Output *in2, int duty_cycle_hz) : 
00065         SimpleTLE5206(in1, in2, duty_cycle_hz) 
00066     {
00067         _desired_speed = 0.0;
00068         _actual_speed  = 0.0;
00069         _accel_rate = 0.01;
00070         _decel_rate = 0.01;
00071         _poll_interval = 10000; // 10ms
00072         _poll.attach_us(this, &SimpleTLE5206Profiler::poll, _poll_interval);   
00073     }
00074     
00075     int  getPollInterval(void)  { return _poll_interval; }
00076     void setPollInterval(int i) 
00077     { 
00078         _poll_interval = i;
00079         _poll.detach();
00080         _poll.attach_us(this, &SimpleTLE5206Profiler::poll, _poll_interval);
00081     }
00082     
00083     void setAccelRate(double rate) { _accel_rate = rate; } 
00084     double getAccelRate(void) { return _accel_rate; } 
00085     
00086     void setDecelRate(double rate) { _decel_rate = rate; } 
00087     double getDecelRate(void) { return _decel_rate; } 
00088     
00089     void setSpeed(double demand_speed)
00090     {
00091         _desired_speed = demand_speed;
00092     }
00093     
00094     double getSpeed(void) { return _actual_speed; }
00095     
00096     void eStop(void) 
00097     {
00098         _desired_speed = _actual_speed = 0.0;
00099         SimpleTLE5206::setSpeed(_desired_speed);
00100     }
00101     
00102    
00103 };
00104 
00105 }; // namespace AjK ends.
00106 
00107 
00108 #endif