51 lines
1.2 KiB
C
51 lines
1.2 KiB
C
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/*
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* @file vvt.h
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*
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* @date Jun 26, 2016
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* @author Andrey Belomutskiy, (c) 2012-2020
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*/
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#pragma once
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#include "engine_ptr.h"
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#include "periodic_task.h"
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#include "closed_loop_controller.h"
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#include "pwm_generator_logic.h"
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#include "pid.h"
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class Logging;
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class ValueProvider3D;
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void initAuxPid(Logging *sharedLogger);
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void startVvtControlPins();
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void stopVvtControlPins();
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class VvtController : public PeriodicTimerController, public ClosedLoopController<angle_t, percent_t> {
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public:
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DECLARE_ENGINE_PTR;
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void init(int index, const ValueProvider3D* targetMap);
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// PeriodicTimerController implementation
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int getPeriodMs() override;
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void PeriodicTask() override;
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// ClosedLoopController implementation
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expected<angle_t> observePlant() const override;
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expected<angle_t> getSetpoint() const override;
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expected<percent_t> getOpenLoop(angle_t target) const override;
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expected<percent_t> getClosedLoop(angle_t setpoint, angle_t observation) override;
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void setOutput(expected<percent_t> outputValue) override;
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private:
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Pid m_pid;
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const ValueProvider3D* m_targetMap = nullptr;
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int index = 0;
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public:
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// todo: encapsulate or inject these
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SimplePwm m_pwm;
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OutputPin m_pin;
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};
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