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.h@39:a4fd6206da89, 2013-06-10 (annotated)

Committer:
chrigelburri
Date:
Mon Jun 10 14:40:37 2013 +0000
Revision:
39:a4fd6206da89
Parent:
38:d76e488e725f 
V1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 0:31f7be68e52d 1 #ifndef _MAXON_ESCON_H_
chrigelburri 0:31f7be68e52d 2 #define _MAXON_ESCON_H_
chrigelburri 0:31f7be68e52d 3
chrigelburri 0:31f7be68e52d 4 #include "Hallsensor.h"
chrigelburri 0:31f7be68e52d 5 #include "defines.h"
chrigelburri 0:31f7be68e52d 6
chrigelburri 0:31f7be68e52d 7 /**
chrigelburri 0:31f7be68e52d 8 * @author Christian Burri
chrigelburri 0:31f7be68e52d 9 *
chrigelburri 38:d76e488e725f 10 * @copyright Copyright (c) 2013 HSLU Pren Team #1 Cruising Crêpe
chrigelburri 0:31f7be68e52d 11 * All rights reserved.
chrigelburri 0:31f7be68e52d 12 *
chrigelburri 11:775ebb69d5e1 13 * @brief
chrigelburri 0:31f7be68e52d 14 *
chrigelburri 3:92ba0254af87 15 * This class implements the driver for the Maxon ESCON servo driver.
chrigelburri 11:775ebb69d5e1 16 * For more information see the Datasheet:
chrigelburri 3:92ba0254af87 17 * <a href="http://escon.maxonmotor.com">http://escon.maxonmotor.com</a>
chrigelburri 38:d76e488e725f 18 *
chrigelburri 38:d76e488e725f 19 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
chrigelburri 38:d76e488e725f 20 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
chrigelburri 38:d76e488e725f 21 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
chrigelburri 38:d76e488e725f 22 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
chrigelburri 38:d76e488e725f 23 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
chrigelburri 38:d76e488e725f 24 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
chrigelburri 38:d76e488e725f 25 * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
chrigelburri 0:31f7be68e52d 26 */
chrigelburri 0:31f7be68e52d 27 class MaxonESCON
chrigelburri 0:31f7be68e52d 28 {
chrigelburri 0:31f7be68e52d 29
chrigelburri 2:d8e1613dc38b 30 private:
chrigelburri 0:31f7be68e52d 31
chrigelburri 11:775ebb69d5e1 32 /** @brief To Enable the amplifier */
chrigelburri 2:d8e1613dc38b 33 DigitalOut _enb;
chrigelburri 11:775ebb69d5e1 34 /** @brief Duty Cycle to set the speed */
chrigelburri 0:31f7be68e52d 35 PwmOut _pwm;
chrigelburri 11:775ebb69d5e1 36 /** @brief Hallsensor Class */
chrigelburri 0:31f7be68e52d 37 Hallsensor* _hall;
chrigelburri 11:775ebb69d5e1 38 /** @brief Ready output from ESCON */
chrigelburri 0:31f7be68e52d 39 DigitalIn _isenb;
chrigelburri 11:775ebb69d5e1 40 /** @brief Actual speed from ESCON analog Output 1 */
chrigelburri 0:31f7be68e52d 41 AnalogIn _actualSpeed;
chrigelburri 11:775ebb69d5e1 42 /** @brief increment the Hallpattern */
chrigelburri 0:31f7be68e52d 43 int _pulses;
chrigelburri 0:31f7be68e52d 44
chrigelburri 0:31f7be68e52d 45 public:
chrigelburri 0:31f7be68e52d 46
chrigelburri 11:775ebb69d5e1 47 /**
chrigelburri 11:775ebb69d5e1 48 * @brief Create a motor control object.
chrigelburri 6:48eeb41188dd 49 * @param enb DigitalOut, set high for enable
chrigelburri 6:48eeb41188dd 50 * @param isenb DigitalIn, high for enable
chrigelburri 6:48eeb41188dd 51 * @param pwm PwmOut pin, set the velocity
chrigelburri 6:48eeb41188dd 52 * @param actualSpeed AnalogIn filtered signal for ActualSpeed from Motor
chrigelburri 6:48eeb41188dd 53 * @param hall The object of the hallsensor from Motor
chrigelburri 6:48eeb41188dd 54 */
chrigelburri 0:31f7be68e52d 55 MaxonESCON(PinName enb,
chrigelburri 0:31f7be68e52d 56 PinName isenb,
chrigelburri 0:31f7be68e52d 57 PinName pwm,
chrigelburri 0:31f7be68e52d 58 PinName actualSpeed,
chrigelburri 0:31f7be68e52d 59 Hallsensor *hall);
chrigelburri 0:31f7be68e52d 60
chrigelburri 11:775ebb69d5e1 61 /**
chrigelburri 11:775ebb69d5e1 62 * @brief Set the speed of the motor with a pwm for 10%..90%.
chrigelburri 6:48eeb41188dd 63 * 50% PWM is 0rpm.
chrigelburri 15:cb1337567ad4 64 * Caclulate from [1/s] in [1/min] and the factor of the ESCON.
chrigelburri 6:48eeb41188dd 65 * @param speed The speed of the motor as a normalised value, given in [1/s]
chrigelburri 6:48eeb41188dd 66 */
chrigelburri 0:31f7be68e52d 67 void setVelocity(float speed);
chrigelburri 0:31f7be68e52d 68
chrigelburri 11:775ebb69d5e1 69 /**
chrigelburri 11:775ebb69d5e1 70 * @brief Return the speed from ESCON.
chrigelburri 15:cb1337567ad4 71 * 0 rpm is defined in the analog input as 1.65V
chrigelburri 6:48eeb41188dd 72 * @return speed of the motor, given in [1/s]
chrigelburri 6:48eeb41188dd 73 */
chrigelburri 0:31f7be68e52d 74 float getActualSpeed(void);
chrigelburri 0:31f7be68e52d 75
chrigelburri 11:775ebb69d5e1 76 /**
chrigelburri 11:775ebb69d5e1 77 * @brief Set the period of the pwm duty cycle.
chrigelburri 6:48eeb41188dd 78 * Wrapper for PwmOut::period()
chrigelburri 6:48eeb41188dd 79 * @param period Pwm duty cycle, given in [s].
chrigelburri 6:48eeb41188dd 80 */
chrigelburri 0:31f7be68e52d 81 void period(float period);
chrigelburri 0:31f7be68e52d 82
chrigelburri 11:775ebb69d5e1 83 /**
chrigelburri 15:cb1337567ad4 84 * @brief Set the motor to a enable sate.
chrigelburri 6:48eeb41188dd 85 * @param enb <code>false</code> for disable <code>true</code> for enable.
chrigelburri 6:48eeb41188dd 86 */
chrigelburri 3:92ba0254af87 87 void enable(bool enb);
chrigelburri 0:31f7be68e52d 88
chrigelburri 11:775ebb69d5e1 89 /**
chrigelburri 11:775ebb69d5e1 90 * @brief Tests if the servo drive is enabled.
chrigelburri 11:775ebb69d5e1 91 * @return <code>true</code> if the drive is enabled,
chrigelburri 6:48eeb41188dd 92 * <code>false</code> otherwise.
chrigelburri 6:48eeb41188dd 93 */
chrigelburri 0:31f7be68e52d 94 bool isEnabled(void);
chrigelburri 0:31f7be68e52d 95
chrigelburri 11:775ebb69d5e1 96 /**
chrigelburri 15:cb1337567ad4 97 * @brief Return the number of pulses.
chrigelburri 6:48eeb41188dd 98 * @return Pulses, given in [count]
chrigelburri 6:48eeb41188dd 99 */
chrigelburri 0:31f7be68e52d 100 int getPulses(void);
chrigelburri 0:31f7be68e52d 101
chrigelburri 11:775ebb69d5e1 102 /**
chrigelburri 15:cb1337567ad4 103 * @brief Set the pulses of the motor, given in [count]
chrigelburri 6:48eeb41188dd 104 * @return Pulses, given in [count]
chrigelburri 6:48eeb41188dd 105 */
chrigelburri 0:31f7be68e52d 106 int setPulses(int setPos);
chrigelburri 0:31f7be68e52d 107 };
chrigelburri 0:31f7be68e52d 108
chrigelburri 0:31f7be68e52d 109 #endif