Christian Burri / Mbed 2 deprecated autonomous Robot Android

This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf

Dependencies:   mbed

Fork of autonomous Robot Android by Christian Burri

ActuatorsSensor/MaxonESCON.cpp@39:a4fd6206da89, 2013-06-10 (annotated)

Committer:
chrigelburri
Date:
Mon Jun 10 14:40:37 2013 +0000
Revision:
39:a4fd6206da89
Parent:
12:235e318a414f 
V1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 0:31f7be68e52d 1 #include "MaxonESCON.h"
chrigelburri 0:31f7be68e52d 2
chrigelburri 0:31f7be68e52d 3 using namespace std;
chrigelburri 0:31f7be68e52d 4
chrigelburri 0:31f7be68e52d 5 MaxonESCON::MaxonESCON(
chrigelburri 0:31f7be68e52d 6 PinName enb,
chrigelburri 0:31f7be68e52d 7 PinName isenb,
chrigelburri 0:31f7be68e52d 8 PinName pwm,
chrigelburri 0:31f7be68e52d 9 PinName actualSpeed,
chrigelburri 0:31f7be68e52d 10 Hallsensor *hall
chrigelburri 0:31f7be68e52d 11 )
chrigelburri 0:31f7be68e52d 12 :
chrigelburri 0:31f7be68e52d 13 _enb(enb),
chrigelburri 0:31f7be68e52d 14 _isenb(isenb),
chrigelburri 0:31f7be68e52d 15 _pwm(pwm),
chrigelburri 0:31f7be68e52d 16 _actualSpeed(actualSpeed),
chrigelburri 0:31f7be68e52d 17 _hall(hall)
chrigelburri 0:31f7be68e52d 18 {
chrigelburri 0:31f7be68e52d 19
chrigelburri 0:31f7be68e52d 20 _pwm = 0;
chrigelburri 0:31f7be68e52d 21
chrigelburri 0:31f7be68e52d 22 // Initial condition of output enables
chrigelburri 0:31f7be68e52d 23 _enb = 0;
chrigelburri 0:31f7be68e52d 24
chrigelburri 0:31f7be68e52d 25 // Set initial condition of PWM 2kHz
chrigelburri 0:31f7be68e52d 26 period(0.0005);
chrigelburri 0:31f7be68e52d 27
chrigelburri 0:31f7be68e52d 28 // Set the pulses to zero
chrigelburri 0:31f7be68e52d 29 _pulses = 0;
chrigelburri 2:d8e1613dc38b 30
chrigelburri 0:31f7be68e52d 31 // Set the Pull Up Resistor
chrigelburri 0:31f7be68e52d 32 _isenb.mode(PullUp);
chrigelburri 0:31f7be68e52d 33 }
chrigelburri 0:31f7be68e52d 34
chrigelburri 0:31f7be68e52d 35 void MaxonESCON::setVelocity(float speed)
chrigelburri 0:31f7be68e52d 36 {
chrigelburri 0:31f7be68e52d 37 speed = speed / ESCON_SET_FACTOR * 60.0f;
chrigelburri 0:31f7be68e52d 38 if(speed > 1 ) {
chrigelburri 8:696c2f9dfc62 39 _pwm = 0.89f;
chrigelburri 0:31f7be68e52d 40 } else if(speed < -1) {
chrigelburri 8:696c2f9dfc62 41 _pwm = 0.11f;
chrigelburri 0:31f7be68e52d 42 } else {
chrigelburri 8:696c2f9dfc62 43 _pwm = 0.4f*speed + (0.5f * (SET_SPEED_PATCH));
chrigelburri 0:31f7be68e52d 44 }
chrigelburri 0:31f7be68e52d 45 }
chrigelburri 0:31f7be68e52d 46
chrigelburri 0:31f7be68e52d 47 float MaxonESCON::getActualSpeed(void)
chrigelburri 0:31f7be68e52d 48 {
chrigelburri 8:696c2f9dfc62 49 return (_actualSpeed.read()* 2.0f - 1.0f *(GET_SPEED_PATCH)) * ESCON_GET_FACTOR / 60.0f;
chrigelburri 0:31f7be68e52d 50 }
chrigelburri 0:31f7be68e52d 51
chrigelburri 0:31f7be68e52d 52 void MaxonESCON::period(float period)
chrigelburri 0:31f7be68e52d 53 {
chrigelburri 0:31f7be68e52d 54 _pwm.period(period);
chrigelburri 0:31f7be68e52d 55 }
chrigelburri 0:31f7be68e52d 56
chrigelburri 0:31f7be68e52d 57 void MaxonESCON::enable(bool enb)
chrigelburri 0:31f7be68e52d 58 {
chrigelburri 6:48eeb41188dd 59 if(enb == true) {
chrigelburri 1:6cd533a712c6 60 _enb = 1;
chrigelburri 0:31f7be68e52d 61 } else {
chrigelburri 1:6cd533a712c6 62 _enb = 0;
chrigelburri 0:31f7be68e52d 63 }
chrigelburri 0:31f7be68e52d 64 }
chrigelburri 0:31f7be68e52d 65
chrigelburri 0:31f7be68e52d 66 bool MaxonESCON::isEnabled()
chrigelburri 0:31f7be68e52d 67 {
chrigelburri 0:31f7be68e52d 68 if(_isenb.read() == 1) {
chrigelburri 2:d8e1613dc38b 69 return true;
chrigelburri 2:d8e1613dc38b 70 } else {
chrigelburri 2:d8e1613dc38b 71 return false;
chrigelburri 2:d8e1613dc38b 72 }
chrigelburri 0:31f7be68e52d 73 }
chrigelburri 0:31f7be68e52d 74
chrigelburri 0:31f7be68e52d 75 int MaxonESCON::getPulses(void)
chrigelburri 0:31f7be68e52d 76 {
chrigelburri 0:31f7be68e52d 77 _pulses = _hall->getPulses();
chrigelburri 0:31f7be68e52d 78 return _pulses;
chrigelburri 0:31f7be68e52d 79 }
chrigelburri 0:31f7be68e52d 80
chrigelburri 0:31f7be68e52d 81 int MaxonESCON::setPulses(int setPos)
chrigelburri 0:31f7be68e52d 82 {
chrigelburri 0:31f7be68e52d 83 _hall->reset();
chrigelburri 0:31f7be68e52d 84 _pulses = _hall->getPulses();
chrigelburri 0:31f7be68e52d 85 return _pulses;
chrigelburri 0:31f7be68e52d 86 }