classes.h

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/**
 * pidcontroller.cpp
 * Gigatron motor control Arduino code for class definitions.
 * 
 * @author  Bayley Wang   <bayleyw@mit.edu>
 *
 * @date    2016-01-10    syler   refactored header files
 *
 **/

#ifndef __CLASSES_H
#define __CLASSES_H

#define dp(var) Serial.print(#var);Serial.print(": ");Serial.println(var)


#define PI 3.1415926535897932384626433832795
#define INCHES_TO_M 0.0254 //$ conversion from inches to meters
//$ car dimensions
const static double wheelBaseWidth = 23.0 * INCHES_TO_M;  //$ [m]
const static double wheelRadius = 4.90 * INCHES_TO_M;     //$ [m]
const static double gearRatio = 11.0 / 60.0;  //$ gear ratio between motor and wheels

//$ constants
const static double RPM_TO_M_S = (2 * PI * wheelRadius) / 60.0;   //$ conversion from RPM to meters per second

const static double STEERING_PWM_RANGE = 255.0;
const static double STEERING_ANGLE_RANGE = 50 * (PI / 180); //$ [radians] this is the correct steering range
const static double ABS_MAX_STEERING_ANGLE = 25 * (PI / 180); //$ [radians]


class DCServo {
public:
  DCServo(int pwmPin1, int pwmPin2, int posPin);
  void ConfigPot(int minV, int midV, int maxV);
  void SetVelocity(int vel);
  unsigned char GetPos();
  unsigned char GetPosLinearized();
private:
  int _pwmPin1, _pwmPin2, _posPin;
  int _minV, _midV, _maxV;
};

class RCDecoder {
public:
  RCDecoder(int interrupt, int minV, int maxV); // edges of pulse widths in microseconds
  unsigned char GetVal();
private:
  int _interrupt;
  int _minV, _maxV;
};

class SpeedSensor {
public:
  SpeedSensor(int interrupt, int poles, int interval);
  long GetTicks();
  long GetRPM();
  double rpmSmooth = 0.0;
  double filterVal = 0.25;
private:
  int _interrupt;
  int _poles, _interval;
};

class PIDController {
public:
  PIDController(long kp, long ki, long kd, long out_max, long out_min);
  int Update(int ref, int in);
  void ResetIntegrator();
  void ResetGains(long kp, long ki, long kd);
private:
  long _kp, _ki, _kd;
  long _out_max, _out_min;
  
  int _last_in;
  long _integral;
};

class LogicBatterySensor {
public:
  LogicBatterySensor(int sense_pin, long r_top, long r_bottom);
  double GetLogicVoltage();
private:
  int _sense_pin;
  long _r_top;
  long _r_bottom;
};
  

#endif