motor.h

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#pragma once
 
#include "mbed.h"
#include "QEI.h"
 
class Motor
{
private:
 
    PwmOut PWM_pin;                 // creates a pulse-width-modulated(PWM) pin
    DigitalOut Direction, Bipolar;  // pins responsible for controlling direction and whether the H-bridge is bipolar or unipolar 
    float duty_cycle;               // duty cycle of the PWM
    bool direction;                 // boolean state of the direction pin
    bool bipolar;                   // boolean state of the bipolar pin where: HIGH means its bipolar and LOW means its unipolar
 
    QEI qei;                            // quadrature encoder object from an imported library
    volatile int curr_tick_count;       // the latest cumulative tick count recorded
    volatile int prev_tick_count;       // the cumulative tick count recorded before the latest cumulative tick count
    volatile float rotational_freq;     // rotational frequency of the wheel
    volatile float speed;               // latest tangential speed of the wheel before filtering out the noise
    volatile float filtered_speed;      // latest tangential speed of the wheel after filtering out the noise
    volatile float prev_speed;          // previous tangential speed of the wheel after filtering out the noise
    volatile float prev_filtered_speed; // previous tangential speed of the wheel before filtering out the noise
    volatile float rpm;                 // latest rounds per minute of the wheel
 
    const int pwm_freq;         // frequency at which the PWM is operating at
    const int update_rate;      // rate of which the values are updated
    const int pulse_per_rev;    // the tick counts counted by the encoder per revolution
    const float wheel_radius;   // radius of the buggy wheel
 
    // Low pass filter constants
    const float LP_a0; 
    const float LP_b0;
    const float LP_b1;
 
    // value of pi used
    const float pi = 3.14159265;
 
public:
 
    Motor(PinName pwm, PinName dir, PinName bip, PinName CH_A, PinName CH_B,
          int pulsePerRev, int pwmFreq, int updateRate, float LowPass_a0, float LowPass_b0, float LowPass_b1, float wheelRadius);
 
    void set_direction(bool DirState);
 
    void set_bipolar_mode(bool BipState);
 
    void set_duty_cycle(float DutyCycle);
 
    bool get_direction();
 
    bool get_bipolar_mode();
 
    float get_duty_cycle();
 
    // Encoder Stuffs:
 
    void update(void);
 
    void reset(void);
 
    int get_tick_count(void);
 
    float get_rotational_freq(void);
 
    float get_rpm(void);
 
    float get_speed(void);
 
    float get_filtered_speed(void);
 
};