Revision 13:d67ecfc6cd7f, committed 2015-05-18

Comitter:

miczyg

Date:

Mon May 18 12:49:42 2015 +0000

Parent:

12:8d67376b521d

Child:

14:9fa93c83285e

Commit message:

hjg

Changed in this revision

--- a/Motor.h	Mon May 18 11:05:31 2015 +0000
+++ b/Motor.h	Mon May 18 12:49:42 2015 +0000
@@ -5,13 +5,13 @@
 #include "PID.h"
 #include "QEI.h"
 
-/*nastawy regulatora PID*/
+/*nastawy regulatora PID
 const float K = 1;
 const float Ti = 0;
 const float Td = 0;
 const float itv = 0.001;
 #define AUTO 1
-
+*/
 /*QEI pins*/
 /*
 #define CH_A PTA2

--- a/MotorL.cpp	Mon May 18 11:05:31 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,43 +0,0 @@
-#include "MotorL.h"
-#include "mbed.h"
-
-MotorL::MotorL(PinName pwm, PinName fwd, PinName rev, PinName stby) :
-_pwm(pwm), _fwd(fwd), _rev(rev), _stdby(stby)//, speedControl(K, Ti, Td, itv)//, encoder(CH_A, CH_B, NC, pPerRev)
-{
-
-    // Set initial condition of PWM
-    _pwm.period(0.001);
-    _pwm = 0;
-    _stdby = 1;
-    // Initial condition of output enables
-    _fwd = 0;
-    _rev = 0;
-
-    //PID config
-    //speedControl.setInputLimits(0, 1);
-    //speedControl.setOutputLimits(0, 1);
-    //speedControl.setMode(AUTO); 
-
-}
-
-void MotorL::speed(float speed) {
-
-/*PID do enkoderow i utrzymywania stalej predkosci*/
-/*
-    if (speed != set_speed){
-        speedControl.setSetPoint(speed);
-        set_speed = speed;
-    }
-
-    pulses = encoder.getPulses();
-    curr_speed = (pulses-prev_pulses) / max_pulse_rate;
-    prev_pulses = pulses;
-
-    speedControl.setProcessValue(curr_speed);
-    speed = speedControl.compute();
-*/
-
-    _fwd = (speed > 0.0);
-    _rev = (speed < 0.0);
-    _pwm = abs(speed);
-}

--- a/MotorL.h	Mon May 18 11:05:31 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,57 +0,0 @@
-#ifndef MBED_MOTORL_H
-#define MBED_MOTORL_H
-
-#include "mbed.h"
-//#include "PID.h"
-
-/*nastawy regulatora PID*/
-/*
-const float K = 1;
-const float Ti = 0;
-const float Td = 0;
-const float itv = 0.001;
-#define AUTO 1
-*/
-/** Interface to control a standard DC motor
-*
-* with an H-bridge using a PwmOut and 2 DigitalOuts
-*/
-class MotorL {
-public:
-
-    /** Create a motor control interface
-    *
-    * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
-    * @param fwd A DigitalOut, set high when the motor should go forward
-    * @param rev A DigitalOut, set high when the motor should go backwards
-    */
-    MotorL(PinName pwm, PinName fwd, PinName rev, PinName stby);
-
-    /** Set the speed of the motor
-    *
-    * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
-    */
-    void speed(float speed);
-    
-    /**Change the stand by status of H-bridge
-    *
-    * @param status 0 - bridge disabled, 1 - bridge enabled
-    */
-    void setStandby(bool status)
-    {
-        _stdby = status;
-    }
-
-protected:
-    PwmOut _pwm;
-    DigitalOut _fwd;
-    DigitalOut _rev;
-    DigitalOut _stdby;
-private:
-    //PID speedControl;
-    //QEI encoder;
-    float set_speed;
-    
-};
-
-#endif

--- a/MotorR.cpp	Mon May 18 11:05:31 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,43 +0,0 @@
-#include "MotorR.h"
-#include "mbed.h"
-
-MotorR::MotorR(PinName pwm, PinName fwd, PinName rev, PinName stby) :
-_pwm(pwm), _fwd(fwd), _rev(rev), _stdby(stby)//, speedControl(K, Ti, Td, itv)//, encoder(CH_A, CH_B, NC, pPerRev)
-{
-
-    // Set initial condition of PWM
-    _pwm.period(0.001);
-    _pwm = 0;
-    _stdby = 1;
-    // Initial condition of output enables
-    _fwd = 0;
-    _rev = 0;
-
-    //PID config
-    //speedControl.setInputLimits(0, 1);
-    //speedControl.setOutputLimits(0, 1);
-    //speedControl.setMode(AUTO); 
-
-}
-
-void MotorR::speed(float speed) {
-
-/*PID do enkoderow i utrzymywania stalej predkosci*/
-/*
-    if (speed != set_speed){
-        speedControl.setSetPoint(speed);
-        set_speed = speed;
-    }
-
-    pulses = encoder.getPulses();
-    curr_speed = (pulses-prev_pulses) / max_pulse_rate;
-    prev_pulses = pulses;
-
-    speedControl.setProcessValue(curr_speed);
-    speed = speedControl.compute();
-*/
-
-    _fwd = (speed > 0.0);
-    _rev = (speed < 0.0);
-    _pwm = abs(speed);
-}

--- a/MotorR.h	Mon May 18 11:05:31 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,57 +0,0 @@
-#ifndef MBED_MOTORR_H
-#define MBED_MOTORR_H
-
-#include "mbed.h"
-//#include "PID.h"
-
-/*nastawy regulatora PID*/
-/*
-const float K = 1;
-const float Ti = 0;
-const float Td = 0;
-const float itv = 0.001;
-#define AUTO 1
-*/
-/** Interface to control a standard DC motor
-*
-* with an H-bridge using a PwmOut and 2 DigitalOuts
-*/
-class MotorR {
-public:
-
-    /** Create a motor control interface
-    *
-    * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
-    * @param fwd A DigitalOut, set high when the motor should go forward
-    * @param rev A DigitalOut, set high when the motor should go backwards
-    */
-    MotorR(PinName pwm, PinName fwd, PinName rev, PinName stby);
-
-    /** Set the speed of the motor
-    *
-    * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
-    */
-    void speed(float speed);
-    
-    /**Change the stand by status of H-bridge
-    *
-    * @param status 0 - bridge disabled, 1 - bridge enabled
-    */
-    void setStandby(bool status)
-    {
-        _stdby = status;
-    }
-
-protected:
-    PwmOut _pwm;
-    DigitalOut _fwd;
-    DigitalOut _rev;
-    DigitalOut _stdby;
-private:
-    //PID speedControl;
-    //QEI encoder;
-    float set_speed;
-    
-};
-
-#endif