bhspread.h

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// ***************************************************************************
//                           bhspread.h
//
//    copyright            : (C) 2004 by tbaier
//    email                : tbaier@informatik.uni-hamburg.de
// ***************************************************************************
#ifndef BHSPREAD_H
#define BHSPREAD_H

#include <iostream>
#include "bhcontroller.h"
#include "bhmotorext.h"

#define MAX_SPREAD_POS 3150

#define MIN_SPREAD_POS 0

#define DEFAULT_SPREAD_SPEED 60

#define MAX_SPREAD_SPEED 125

//#define MIN_SPREAD_SPEED 14  //(default)
#define MIN_SPREAD_SPEED 14

class BHSpread : public BHMotorExt
{
 public:

  BHSpread(MotorFeedback *mf);

  BHSpread(MotorFeedback *mf, int speed);


  BHPDController *Ctr;

};

// ****************************
// **                        **
// ****************************
inline BHSpread::BHSpread(MotorFeedback *mf)
{
  FeedBack = mf;

  //  Ctr = new BHPIDController(0.005, 0.0001, 0.0001, 5);

  Ctr = new BHPDController(0.015, 0.004);

  Speed = DEFAULT_SPREAD_SPEED;

  MinSpeed = MIN_SPREAD_SPEED;
  MaxSpeed = MAX_SPREAD_SPEED;

  MinPos = MIN_SPREAD_POS;
  MaxPos = MAX_SPREAD_POS;
}


#endif //BHSPREAD_H

---

Tim Baier bhandlib v0.25

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