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- Log -----------------------------------------------------------------
commit 260df9f53355a424386ccc2b72d403d43ba6b83f
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu Mar 31 16:39:43 2011 +0200
[Controller_Motor_STM32] Comments in command_generator.h
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.h b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.h
index 38e2564..2c80192 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.h
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.h
@@ -15,26 +15,36 @@
#include <drv/timer.h>
-#define GEN_NONE 0
-#define GEN_CONSTANT 1
-#define GEN_RAMP 2
-#define GEN_RAMP2 3
-
-#define GEN_STATE_PAUSE 0
-#define GEN_STATE_RUNNING 1
-
-#define GEN_CALLBACK_NONE 0
-#define GEN_CALLBACK_SUP 1
-#define GEN_CALLBACK_INF 2
+// Generator types
+#define GEN_NONE 0 // No type, the generator is not initialized.
+#define GEN_CONSTANT 1 // Outputs a constant.
+#define GEN_RAMP 2 // Outputs a ramp with the given slope.
+#define GEN_RAMP2 3 // Same as GEN_RAMP, but the slope is given by another
+ // generator.
+#define GEN_DD_LEFT 4 // Outputs the left wheel speed for a differential
+ // drive.
+#define GEN_DD_RIGHT 5 // Outputs the right wheel speed for a differential
+ // drive.
+
+// Generator states
+#define GEN_STATE_PAUSE 0 // The output is freezed.
+#define GEN_STATE_RUNNING 1 // The generator is running.
+
+// Threshold comparison for callback trigger
+#define GEN_CALLBACK_NONE 0 // There is no callback.
+#define GEN_CALLBACK_SUP 1 // The callback is triggered if output > threshold.
+#define GEN_CALLBACK_INF 2 // The callback is triggered if output < threshold.
typedef union _command_generator_t command_generator_t;
+// Callback description
typedef struct {
uint8_t type;
float threshold;
void (*callback_function)(command_generator_t*);
} generator_callback_t;
+// Generator descriptions
typedef struct {
uint8_t t;
float last_output;
@@ -58,26 +68,93 @@ typedef struct {
command_generator_t *speed;
} ramp2_generator_t;
+typedef struct {
+ placeholder_generator_t gen;
+ command_generator_t *linear_speed;
+ command_generator_t *rotational_speed;
+ float wheel_radius;
+ float shaft_width;
+} dd_generator_t;
+
+// Usable generator meta-type
union _command_generator_t {
placeholder_generator_t type;
constant_generator_t constant;
ramp_generator_t ramp;
ramp2_generator_t ramp2;
+ dd_generator_t dd;
};
-command_generator_t* new_constant_generator(command_generator_t *generator, float value);
-command_generator_t* new_ramp_generator(command_generator_t *generator, float starting_value, float speed);
-command_generator_t* new_ramp2_generator(command_generator_t *generator, float starting_value, command_generator_t *speed);
+/* Initializes a new Constant Generator.
+ * - generator : pointer to the generator to initialize
+ * - value : output value of the generator
+ */
+command_generator_t* new_constant_generator(command_generator_t *generator,
+ float value);
+
+/* Initializes a new Ramp Generator.
+ * - generator : pointer to the generator to initialize
+ * - starting_value : initial output value
+ * - speed : slope
+ */
+command_generator_t* new_ramp_generator(command_generator_t *generator,
+ float starting_value, float speed);
+
+/* Initializes a new Ramp2 Generator.
+ * - generator : pointer to the generator to initialize
+ * - starting_value : initial output value
+ * - speed : pointer to the generator which output is used as this generator's slope
+ */
+command_generator_t* new_ramp2_generator(command_generator_t *generator,
+ float starting_value,
+ command_generator_t *speed);
+
+/* Initializes a new Differential Drive generator.
+ * - generator : pointer to the generator to initialize
+ * - linear_speed : pointer to the generator giving the linear speed of the drive
+ * - rotational_speed : pointer to the generator giving the rotational speed of the drive
+ * - wheel_radius : radius of the wheels
+ * - shaft_width : width of the propulsion shaft
+ * - type : 1 for the right_wheel, -1 for the left_wheel
+ */
+command_generator_t* new_dd_generator(command_generator_t *generator,
+ command_generator_t *linear_speed,
+ command_generator_t *rotational_speed,
+ float wheel_radius, float shaft_width,
+ uint8_t type);
+/*
+ * Adjusts the current output value of 'generator' to 'value'.
+ */
command_generator_t* adjust_value(command_generator_t *generator, float value);
+
+/*
+ * Adjusts the current slope of the ramp generator 'generator' to 'speed'.
+ */
command_generator_t* adjust_speed(command_generator_t *generator, float speed);
+/*
+ * Starts or pauses 'generator'.
+ */
command_generator_t* start_generator(command_generator_t *generator);
command_generator_t* pause_generator(command_generator_t *generator);
+/* Adds a callback to a generator
+ * - generator : pointer to the generator to add a callback to
+ * - type : threshold comparison type
+ * - threshold : comparison threshold
+ * - callback_function : callback to be called when the event is triggered
+ */
command_generator_t* add_callback(command_generator_t *generator, uint8_t type, float threshold, void (*callback_function)(command_generator_t*));
+
+/*
+ * Removes the callback from 'generator'
+ */
command_generator_t* remove_callback(command_generator_t *generator);
+/*
+ * Gets (and computes) the current output value of 'generator'
+ */
float get_output_value(command_generator_t *generator);
#endif /* __COMMAND_GENERATOR_H */
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