61 lines
898 B
C++
61 lines
898 B
C++
#ifndef MOTOR_CONTROLLER_H
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#define MOTOR_CONTROLLER_H
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#include "rotary_encoder_driver.h"
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#include "motor_driver.h"
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#include "p_controller.h"
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class State;
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class MotorController
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{
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private:
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State* current_state;
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State* initialization_state;
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State* operational_state;
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RotaryEncoderDriver& encoder;
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MotorDriver& motor;
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P_controller& controller;
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double reference_rpm;
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public:
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MotorController(
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RotaryEncoderDriver& encoder,
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MotorDriver& motor,
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P_controller& controller
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);
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void set_states(
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State* initialization,
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State* operational
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);
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void begin();
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void update();
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void command(char c);
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void transition_to(State* new_state);
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void to_initialization();
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void to_operational();
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void run_speed_controller();
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void stop_motor();
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void reset_speed_measurement();
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};
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#endif |