bhspeedgen.h

/***************************************************************************
                          bhspeedgen.h
                             -------------------
    copyright            : (c) 2004 Tim Baier
    email                : tbaier@informatik.uni-hamburg.de
 ***************************************************************************/

#ifndef BHSPEEDGEN_H
#define BHSPEEDGEN_H

#include <iostream>
#include <math.h>

#include "bhspeedprofiler.h"



#define PROFILE_STUCK_CURE

class BHSpeedGen : public BHSpeedProfiler
{
 
 public:
  
  //
  // turn towards a fixed angle
  //
  
  BHSpeedGen (const double vMax,
              const double aMax,
              const double interval,
              const double endPos,
              const bool fineTune = true);
  
#if 0
  //
  // turn towards a fixed point. this is something different than the above
  // because during turning the position may change due to wheel slippage.
  //
  
  BHSpeedGen ( const double vRotMax,
               const double aRotMax,
               const double interval,
               const double xHead,
               const double yHead,
               const bool fineTune = true);
#endif

  virtual ~BHSpeedGen (void);
  
  virtual bool step (void);

  void setPos(const double pos); 
  void setVel(const double vel);
  
  void setTarget(const double pos); 
  
  void abort();
  void resetAbort();

  double getVel();

 protected:
  
  // if in angle mode, use `_ae', else use `_xe'/`_ye'
  
  double EndPos;

  double _te;
  //  double _lastRotVel;
  //  double _lastRotPos;
  
  bool _running;
  bool _profileDone;
  bool _controllerDone;
  bool _abort;


  bool _fineTune;
  //  double _a1;
  int _fadeOut;
  
  virtual double ComputeProfile (void);
  virtual bool IntegrateProfile (void);
    
  double _targErrLast;
  double _targErrSum;
  double _targGain;
      
  double _p0;
  double Pos;
  double Vel;

  double  _rotVel;
  // bool _velocitiesChanged;
  volatile bool _motorStopped;

  
};

inline void BHSpeedGen::setPos(const double pos)
{
  Pos = pos;
}

inline void BHSpeedGen::setVel(const double vel)
{
  _rotVel = vel;
}

inline double BHSpeedGen::getVel()
{
  return _rotVel;
}
  
inline void  BHSpeedGen::abort()
{
  _abort = true;
}


  
inline void  BHSpeedGen::resetAbort()
{
  _abort = false;
}


inline void  BHSpeedGen::setTarget(const double target)
{
  EndPos = target;
}


#endif //BHSPEEDGEN_H

---

Tim Baier bhandlib v0.25

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