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

Actuators/MaxonESCON/MaxonESCON.h

Committer:
chrigelburri
Date:
2013-03-03
Revision:
2:d8e1613dc38b
Parent:
1:6cd533a712c6

File content as of revision 2:d8e1613dc38b:

#ifndef _MAXON_ESCON_H_
#define _MAXON_ESCON_H_

#include "mbed.h"
#include "Hallsensor.h"
#include "defines.h"

/**
 * @author Christian Burri
 *
 * @section LICENSE
 *
 * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
 * All rights reserved.
 *
 * @section DESCRIPTION
 *
 * This class implements the driver for the Maxon ESCON servo driver.....
 *
 * Datasheet:
 *
 * http://escon.maxonmotor.com
 */
class MaxonESCON
{

private:

    /** To Enable the amplifier */
    DigitalOut _enb;
    /** Duty Cycle to set the speed */
    PwmOut _pwm;
    /** Hallsensor Class */
    Hallsensor* _hall;
    /** Ready output from ESCON */
    DigitalIn _isenb;
    /** Actual speed from ESCON analog Output 1 */
    AnalogIn _actualSpeed;
    /** increment the Hallpattern */
    int    _pulses;

public:

    /** Create a motor control object
       *
       * @param enb DigitalOut, set high for enable
       * @param isenb DigitalIn, high for enable
       * @param pwm PwmOut pin, set the Velocity
       * @param hall HALL Object
       * @param actualSpeed AnalogIn Filtered Signal for ActualSpeed from Motor
       * @param hall The Object of the Hallsensor from Motor
       */
    MaxonESCON(PinName enb,
               PinName isenb,
               PinName pwm,
               PinName actualSpeed,
               Hallsensor *hall);

    /** Set the speed of the motor with a pwm for 10%..90%
    *  50% PWM is 0rpm
    *  Caclulate from [1/s] in [1/min] and the Factor of the ESCON
    * @param speed The speed of the motor as a normalised value in [1/s]
    */
    void setVelocity(float speed);

    /**Return the speed from ESCON
    *
    * Analog input 1.65V = 0 rpm
    *
    * @return speed of the motor [1/s]
    */
    float getActualSpeed(void);

    /** Set the period of the pwm duty cycle.
    *
    * Wrapper for PwmOut::period()
    *
    * @param period Pwm duty cycle in seconds.
    */
    void period(float period);

    /** Set the Motor to a enable sate
    *
    * @param enb <code>0</code> for disable <code>1</code> for enable.
    */
    void enable (bool enb);

    /**Tests if the servo drive is enabled.
    *
    * @return <code>true</code> if the drive is enabled, <code>false</code> otherwise.
    */
    bool isEnabled(void);

    /** Return the translativ Position
    *
    * @return position in meter
    */
    int getPulses(void);

    /** Set the Pulses of the Motor
    *
    * @return number of turns
    */
    int setPulses(int setPos);
};

#endif