ME-507-Romi-Plus-Plus/heading_8h_source.html

/*

 * heading.h

 *

 *  Created on: Jun 8, 2025

 *      Author: jacka

 */


#ifndef INC_HEADING_H_

#define INC_HEADING_H_


#include "command_parser.h"

#include "BNO055_STM32.h"

#include "time_utils.h"

#include <stdint.h>

#include <algorithm>


extern COMMAND_PARSER parser;


extern BNO055_Sensors_t BNO055;


extern volatile bool USER;


class HEADING

{

public:


    typedef enum state

    {

        S0_INIT,

        S1_IDLE,

        S2_RUN

    } state_t;


    HEADING();


    int32_t get_M1_eff(void);


    int32_t get_M2_eff(void);


    void run(void);


private:

    state_t state;


    int16_t angle;

    int16_t prev_angle;

    int32_t headset;

    int32_t position;

    int16_t delta;


    int32_t M1_eff;

    int32_t M2_eff;


    // PID controller parameters

    float Kp;

    float Ki;

    float Kd;


    int32_t error;

    int32_t prev_error;

    int32_t error_diff;

    int32_t error_sum;


    int16_t ctrl;

    uint32_t dt;

    uint32_t now;

    uint32_t last_time;

};


#endif /* INC_HEADING_H_ */

USER
volatile bool USER
External flag indicating user button press.
Definition main.cpp:100

BNO055
BNO055_Sensors_t BNO055
External reference to BNO055 sensor data structure.
Definition main.cpp:94

HEADING::run
void run(void)
Executes one iteration of the heading FSM and PID controller.
Definition heading.cpp:36

HEADING::get_M1_eff
int32_t get_M1_eff(void)
Retrieves the motor 1 effort calculated by the heading controller.
Definition heading.cpp:23

HEADING::get_M2_eff
int32_t get_M2_eff(void)
Retrieves the motor 2 effort calculated by the heading controller.
Definition heading.cpp:29

HEADING::HEADING
HEADING()
Constructor for the HEADING class.
Definition heading.cpp:14

HEADING::state
state
Definition heading.h:46

HEADING::S0_INIT
@ S0_INIT
Initialization state.
Definition heading.h:47

HEADING::S1_IDLE
@ S1_IDLE
Idle state (waiting for control activation)
Definition heading.h:48

HEADING::S2_RUN
@ S2_RUN
Active heading control loop.
Definition heading.h:49

command_parser.h
Header for UART command parsing module.

parser
COMMAND_PARSER parser
External reference to the command parser.
Definition main.cpp:97

BNO055_Sensors_t
Definition BNO055_STM32.h:278

time_utils.h
Utility functions for microsecond-level timing.