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30 lines
645 B
C++
30 lines
645 B
C++
// DC motor with quatrature hall encoder
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#ifndef DCMOTORACTUATOR_H
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#define DCMOTORACTUATOR_H
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#include "IActuator.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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class DCMotorActuator final : public IActuator {
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public:
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DCMotorActuator();
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~DCMotorActuator() override;
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void actuate(uint8_t *cmd) override;
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std::vector<Flatbuffers::sensor_value> get_sensor_data() override;
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private:
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void setup_encoder();
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static void pid_task(char *args);
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double m_current_angle;
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int64_t m_target_angle;
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TaskHandle_t m_pid_task;
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double m_integral;
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double m_last_error;
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};
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#endif //SERVO1ACTUATOR_H
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