wheelcontrol.h

Go to the documentation of this file.

#ifndef WHEEL_CONTROL_H
#define WHEEL_CONTROL_H
 
#include "debug1.h"
#include "mbed.h"
#include "PID.h"
#include <utility>
#include <vector>
 
#define ENCODER_LIMIT 4000.0f
typedef pair<int, float> pif;
 
class WheelControl {
  private:
    PID m_leftcontroller;
 
    PID m_rightcontroller;
 
    PID m_linecontroller;
 
    float m_target;
 
    void m_setSetPoint(float left_val, float right_val);
    void m_setProcessValue(float left_val, float right_val);
 
  public:
    WheelControl();
 
    void setSpeedController(float Kc, float tauI, float tauD);
 
    void setLineController(float Kc, float tauI, float tauD);
 
    void setLineLimits(float low, float high);
 
    void setPWMLimits(float low, float high);
 
    void setTargetSpeed(float speed);
 
    void reset();
 
    vector<pif> computeSpeed(float position, const Encoder &left_encoder, const Encoder &right_encoder);
};
 
#endif  // WHEEL_CONTROL_H