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Datei: MotorActuator.vdmrt Sprache: VDM

Original von: VDM^©

% MotorActuator.vdmrt

\subsubsection{Controlling the direct drive motor -- the \texttt{MotorActuator} class}

The \texttt{MotorActuator} class provides the functionality to drive the motor.
The motor is either \texttt{<FREERUNNING>} or \texttt{<ACTUATED>} and operations
are provided to modify the state of the actuator. If the actuator is in
\texttt{<FREERUNNING>} state then setting the pulse width modulation (PWM)
value has no effect, it will simply not be propagated to the environment.
Note that the PWM value must be set between $[-1.0, 1.0]$ whereby the sign
influences the direction of the rotation.

\begin{vdm_al}
class MotorActuator
  is subclass of IActuatorReal

types
  -- motor is either free running or actuated
  private tDriveStatus = <ACTUATED> | <FREERUNNING>

instance variables
  -- motor is initially free running
  private mDriveStatus : tDriveStatus := <FREERUNNING>;

  -- link back to the controller managing this resource
  private mController : Controller;

operations
  public MotorActuator: Controller ==> MotorActuator
  MotorActuator (pController) == mController := pController;

  public initActuator: () ==> ()
  initActuator () ==
    ( -- set drive status to free running
      mDriveStatus := <FREERUNNING>;
      -- push initial motor drive status to environment
      mController.setValue("ACTUATED", 0);
      -- reset the motor PWM start-up value
      mController.setValue("PWM", 0) );

  public isActuated: () ==> bool
  isActuated () == return mDriveStatus = <ACTUATED>;

  public setFreeRunning: () ==> ()
  setFreeRunning () ==
    if isActuated()
    then ( -- update the motor actuation state
           mDriveStatus := <FREERUNNING>;
           -- push the drive status to the environment
           duration (0) mController.setValue("ACTUATED", 0);
           -- conditional diagnostics
           duration (0) if ChessWay`debug
                        then printDiagnostics() );

  public setActuated: () ==> ()
  setActuated () ==
    if not isActuated()
    then ( -- update the motor actuation state
           mDriveStatus := <ACTUATED>;
           -- push the drive state to the environment
           duration (0) mController.setValue("ACTUATED", 1);
           -- conditional diagnostics
           duration (0) if ChessWay`debug
                        then printDiagnostics() );

  public SetValue: real ==> ()
  SetValue(v) ==
    if mController.mName = "LEFT"
    then mController.setValue("ACC", v)
    else mController.setValue("VEL", v);

  public setPWM: real ==> ()
  setPWM (pPWM) ==
    if isActuated()
    -- store the PWM value (push to environment)
    then duration (0) mController.setValue("PWM", pPWM)
    else skip
  pre pPWM >= -1.0 and pPWM <= 1.0;

  public printDiagnostics: () ==> ()
  printDiagnostics () ==
    ( IO`print(mController.mName ^ " motor is ");
      IO`print(mDriveStatus);
      IO`print(" at ");
      IO`print(time/1E9);
      IO`print("\n") );

end MotorActuator
\end{vdm_al}

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