Daniel Casner / Mbed 2 deprecated droidcycle

Firmware for an Android accessory electric bicycle. See http://www.danielcasner.org/tag/ebike/ for some more information on my build.

Dependencies:   AndroidAccessory mbed

throttle.h@3:dc564aaf8a81, 2012-08-25 (annotated)

Committer:
DanielC
Date:
Sat Aug 25 20:09:35 2012 +0000
Revision:
3:dc564aaf8a81
Parent:
2:e2c3c7340fb3 
A first public commit. This isn't working code yet but I think it's enough to share to show the structure of what I am developing.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DanielC 2:e2c3c7340fb3 1 #ifndef _throttle_h_
DanielC 2:e2c3c7340fb3 2 #define _throttle_h_
DanielC 2:e2c3c7340fb3 3
DanielC 2:e2c3c7340fb3 4 #include "mbed.h"
DanielC 2:e2c3c7340fb3 5
DanielC 2:e2c3c7340fb3 6 /** Enumeration of different throttle operation modes.
DanielC 2:e2c3c7340fb3 7 * Determines how the throttle output is calculated from
DanielC 2:e2c3c7340fb3 8 * all possible inputs.
DanielC 2:e2c3c7340fb3 9 */
DanielC 2:e2c3c7340fb3 10 typedef enum ThrottleMode {
DanielC 2:e2c3c7340fb3 11 off = 0, /// Throttle output is 0
DanielC 2:e2c3c7340fb3 12 raw = 1, /// Throttle output is throttle input (possibly with calibrated curve)
DanielC 2:e2c3c7340fb3 13 torque = 2, /// Throttle output runs a PID loop on thorque output
DanielC 2:e2c3c7340fb3 14 cruise_raw, /// Throttle output is held to grip throttle at time cruise was set
DanielC 2:e2c3c7340fb3 15 cruise_speed, /// Throttle output runs cruise control PID on speed.
DanielC 2:e2c3c7340fb3 16 cruise_torque, /// Throttle output runs cruise control PID on torque.
DanielC 2:e2c3c7340fb3 17 droid, /// Throttle output is controlled by attached Android.
DanielC 2:e2c3c7340fb3 18 calibrate_speed = 0x55, /// Throttle to speed calibration mode
DanielC 2:e2c3c7340fb3 19 calibrate_torque = 0x56, /// Throttle to torque calibration mode
DanielC 2:e2c3c7340fb3 20 calibrate_input = 0x57, /// Grip throttle calibration mode
DanielC 2:e2c3c7340fb3 21 } ThrottleMode;
DanielC 2:e2c3c7340fb3 22
DanielC 2:e2c3c7340fb3 23 /** State machine for running cruise control functions
DanielC 2:e2c3c7340fb3 24 */
DanielC 2:e2c3c7340fb3 25 typedef enum CruiseState {
DanielC 2:e2c3c7340fb3 26 waiting, /// Waiting for a valid precondition to be met to start running cruise control
DanielC 2:e2c3c7340fb3 27 transition, /// A transition or ramp between cruise off and cruise on is in progress
DanielC 2:e2c3c7340fb3 28 running, /// Full cruise control operating
DanielC 2:e2c3c7340fb3 29 inhibited, /// Something (breaks) cause the cruise control to be inhibited
DanielC 2:e2c3c7340fb3 30 } CruiseState;
DanielC 2:e2c3c7340fb3 31
DanielC 2:e2c3c7340fb3 32 /** A singleton class representing all aspects of throttle control (input and output)
DanielC 2:e2c3c7340fb3 33 * as well as regenerative breaking function and break inhibits.
DanielC 2:e2c3c7340fb3 34 */
DanielC 2:e2c3c7340fb3 35 class Throttle {
DanielC 2:e2c3c7340fb3 36 public:
DanielC 2:e2c3c7340fb3 37 /** Get the singleton instance
DanielC 2:e2c3c7340fb3 38 * All variables will be used asynchronously so they must be available throughout the program
DanielC 2:e2c3c7340fb3 39 * @param I Motor current in Amps
DanielC 2:e2c3c7340fb3 40 * @param v_f Front wheel speed in RPM
DanielC 2:e2c3c7340fb3 41 * @param v_r Rear wheel speed in RPM
DanielC 2:e2c3c7340fb3 42 * @param cadence cadence in RPM
DanielC 2:e2c3c7340fb3 43 * @param break_l Left break input
DanielC 2:e2c3c7340fb3 44 * @param break_r Right break input
DanielC 2:e2c3c7340fb3 45 * @return A pointer to the singleton Throttle object
DanielC 2:e2c3c7340fb3 46 */
DanielC 2:e2c3c7340fb3 47 static Throttle *getThrottle(float *I, float *v_f, float *v_r, float *cadence, AnalogIn* break_l, AnalogIn* break_r);
DanielC 2:e2c3c7340fb3 48 /// Set the throttle control mode
DanielC 2:e2c3c7340fb3 49 void setMode(ThrottleMode m);
DanielC 2:e2c3c7340fb3 50 /// Set a limit on motor current for closed loop regulation
DanielC 2:e2c3c7340fb3 51 void setILimit(float I);
DanielC 2:e2c3c7340fb3 52 /** Set a speed limit
DanielC 2:e2c3c7340fb3 53 * @param v Speed in RPM
DanielC 2:e2c3c7340fb3 54 * @param enforce if true, regenerative breaking will be used to slow the
DanielC 2:e2c3c7340fb3 55 * bike if it's going over the speed limit with the motor off.
DanielC 2:e2c3c7340fb3 56 */
DanielC 2:e2c3c7340fb3 57 void setSpeedLimit(float v, bool enforce=false);
DanielC 2:e2c3c7340fb3 58 /// Set the external input (from Droid)
DanielC 2:e2c3c7340fb3 59 void input(float target);
DanielC 2:e2c3c7340fb3 60
DanielC 2:e2c3c7340fb3 61 private:
DanielC 2:e2c3c7340fb3 62 /// Private constructor
DanielC 2:e2c3c7340fb3 63 Throttle(float *I, float *v_f, float *v_r, float *cadence, AnalogIn* break_l, AnalogIn* break_r);
DanielC 2:e2c3c7340fb3 64 /// and destructor
DanielC 2:e2c3c7340fb3 65 ~Throttle();
DanielC 2:e2c3c7340fb3 66 /// Control loop tick
DanielC 2:e2c3c7340fb3 67 void onTick();
DanielC 2:e2c3c7340fb3 68
DanielC 2:e2c3c7340fb3 69 // The singleton instance
DanielC 2:e2c3c7340fb3 70 static Throttle* instance;
DanielC 2:e2c3c7340fb3 71
DanielC 2:e2c3c7340fb3 72 Ticker tick;
DanielC 2:e2c3c7340fb3 73 ThrottleMode mode;
DanielC 2:e2c3c7340fb3 74 CruiseState state;
DanielC 2:e2c3c7340fb3 75 float *I, *v_f, *v_r, *cadence;
DanielC 2:e2c3c7340fb3 76 AnalogIn *brkl, *brkr;
DanielC 2:e2c3c7340fb3 77 float target, iLimit, speedLimit;
DanielC 2:e2c3c7340fb3 78 bool enforceSpeedLimit;
DanielC 2:e2c3c7340fb3 79
DanielC 2:e2c3c7340fb3 80 static const float break_inhibit_threshold = 0.1; /// The thrshold at which the breaks cut off the throttle
DanielC 2:e2c3c7340fb3 81 };
DanielC 2:e2c3c7340fb3 82
DanielC 2:e2c3c7340fb3 83
DanielC 2:e2c3c7340fb3 84 #endif