59 lines
1.3 KiB
C++
59 lines
1.3 KiB
C++
#pragma once
|
|
|
|
#include "Encoder.h"
|
|
#include "Motor.h"
|
|
|
|
namespace Passer {
|
|
namespace RoboidControl {
|
|
|
|
/// @brief A motor with speed control
|
|
/// It uses a feedback loop from an encoder to regulate the speed
|
|
/// The speed is measured in revolutions per second.
|
|
class ControlledMotor : public Thing {
|
|
public:
|
|
ControlledMotor();
|
|
ControlledMotor(Motor* motor, Encoder* encoder);
|
|
|
|
inline static bool CheckType(Thing* thing) {
|
|
return (thing->type & (int)Thing::Type::ControlledMotor) != 0;
|
|
}
|
|
float velocity;
|
|
|
|
float pidP = 1;
|
|
float pidD = 0;
|
|
float pidI = 0;
|
|
|
|
void Update(float currentTimeMs);
|
|
|
|
/// @brief Set the target speed for the motor controller
|
|
/// @param speed the target in revolutions per second.
|
|
void SetTargetSpeed(float speed);
|
|
|
|
/// @brief Get the actual speed from the encoder
|
|
/// @return The speed in revolutions per second
|
|
float GetActualSpeed();
|
|
|
|
bool Drive(float distance);
|
|
|
|
Motor* motor;
|
|
Encoder* encoder;
|
|
|
|
protected:
|
|
float lastUpdateTime;
|
|
float targetVelocity;
|
|
float actualVelocity;
|
|
float netDistance = 0;
|
|
float startDistance = 0;
|
|
|
|
enum Direction { Forward = 1, Reverse = -1 };
|
|
|
|
Direction rotationDirection;
|
|
|
|
bool driving = false;
|
|
float targetDistance = 0;
|
|
float lastEncoderPosition = 0;
|
|
};
|
|
|
|
} // namespace RoboidControl
|
|
} // namespace Passer
|
|
using namespace Passer::RoboidControl; |