61 lines
No EOL
1.3 KiB
C++
61 lines
No EOL
1.3 KiB
C++
#ifndef COMPLIB_SERVER_MOTOR_HPP
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#define COMPLIB_SERVER_MOTOR_HPP
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#include <cstdint>
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#include <vector>
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#include <chrono>
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#include <thread>
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#include "include/robot.hpp"
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class Motor {
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public:
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enum Mode : uint8_t {
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COAST = 0,
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FORWARD = 1,
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BACKWARD = 2,
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BREAK = 3,
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SERVO = 4,
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NONE = 5
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};
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enum Control : uint8_t {
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POWER = 0,
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SPEED = 1
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};
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static Motor& get_instance()
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{
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static Motor instance;
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return instance;
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}
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Motor(Motor const&) = delete;
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void operator=(Motor const&) = delete;
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void set_speed(uint8_t port, double rpm);
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void set_power(uint8_t port, double percent);
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static void set_pwm(uint8_t port, uint16_t pwm, Mode mode);
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std::vector<double> get_speed();
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private:
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Motor();
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// Speed calculation and speed filter
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int32_t last_encoder_values[MOTOR_COUNT] = {0};
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double filtered_speeds[MOTOR_COUNT] = {0};
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std::chrono::system_clock::time_point last_time_encoders_read;
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// Speed control
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double speed_targets[MOTOR_COUNT] = {0};
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double motor_control_modes[MOTOR_COUNT] = {0};
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std::thread speed_control_thread;
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void reset_speed();
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void speed_control_loop();
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void _set_power(uint8_t port, double percent);
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};
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#endif // COMPLIB_SERVER_MOTOR_HPP
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