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