124 lines
3.1 KiB
C++
124 lines
3.1 KiB
C++
#ifndef MOTOR_CONTROLLER_H
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#define MOTOR_CONTROLLER_H
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#include <stdint.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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#include "digital_out.h"
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#include "node_types.h"
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#include "node_application.h"
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class State;
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class MotorController : public NodeApplication
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{
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private:
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static constexpr double DEFAULT_TARGET_RPM = 0.0;
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static constexpr double PWM_PER_PERCENT = 255.0 / 100.0;
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static constexpr uint8_t LED_PIN = Digital_out::STATUS_LED;
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State* current_state;
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State& initialization_state;
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State& pre_operational_state;
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State& operational_state;
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State& stopped_state;
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RotaryEncoderDriver &encoder;
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MotorDriver &motor;
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P_controller &p_controller;
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P_controller &pi_controller;
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P_controller *controller; // Bendir á p_controller eða pi_controller
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Digital_out led;
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double target_rpm; // Það sem beðið er um (RPDO1)
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double reference_rpm; // Það sem stýringin fær
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uint32_t profile_acceleration; // RPM/s
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uint32_t profile_deceleration;
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// Síðasta sýni, notað fyrir CSV-útprentun
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double last_actual_rpm;
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double last_pwm;
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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 &p_controller,
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P_controller &pi_controller,
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State &initialization,
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State &pre_operational,
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State &operational,
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State &stopped
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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() override;
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void to_pre_operational() override;
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void to_operational() override;
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void to_stopped() override;
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NodeState get_state() const override;
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bool fault_active();
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// Skilar true þegar nýtt sýni var keyrt í gegnum stýringuna
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bool run_speed_controller();
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void set_target_rpm(double rpm) override { target_rpm = rpm; }
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double get_target_rpm() const override { return target_rpm; }
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double get_reference_rpm() const { return reference_rpm; }
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double get_actual_rpm() const override { return last_actual_rpm; }
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double get_pwm() const { return last_pwm; }
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double get_duty_percent() const override { return last_pwm / PWM_PER_PERCENT; }
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void set_profile_acceleration(uint32_t value) override {profile_acceleration = value; }
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uint32_t get_profile_acceleration() const override { return profile_acceleration; }
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void set_profile_deceleration(uint32_t value) override {profile_deceleration = value; }
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uint32_t get_profile_deceleration() const override { return profile_deceleration; }
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void stop_motor();
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void reset_speed_measurement();
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void reset_controller();
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void reset_parameters() override;
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void set_Kp(double value) override;
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double get_Kp() const override { return controller->get_Kp(); }
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bool set_Ti(double value) override;
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double get_Ti() const override { return controller->get_Ti(); }
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void select_controller(ControllerType type) override;
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ControllerType get_controller_type() const override;
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void led_on();
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void led_off();
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};
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#endif
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