Mirror actuator for RT2 lab
Dependencies: Library_Cntrl Library_Misc
Mirror_Kinematic.h@7:942fd77d5e19, 2021-04-15 (annotated)
- Committer:
- altb2
- Date:
- Thu Apr 15 05:36:55 2021 +0000
- Revision:
- 7:942fd77d5e19
intermediate
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 7:942fd77d5e19 | 1 | #ifndef MIRROR_KINEMATIC_H_ |
altb2 | 7:942fd77d5e19 | 2 | #define MIRROR_KINEMATIC_H_ |
altb2 | 7:942fd77d5e19 | 3 | |
altb2 | 7:942fd77d5e19 | 4 | #include "mbed.h" |
altb2 | 7:942fd77d5e19 | 5 | #include "data_structs.h" |
altb2 | 7:942fd77d5e19 | 6 | |
altb2 | 7:942fd77d5e19 | 7 | extern DATA_Xchange data; |
altb2 | 7:942fd77d5e19 | 8 | |
altb2 | 7:942fd77d5e19 | 9 | |
altb2 | 7:942fd77d5e19 | 10 | class Mirror_Kinematic |
altb2 | 7:942fd77d5e19 | 11 | { |
altb2 | 7:942fd77d5e19 | 12 | public: |
altb2 | 7:942fd77d5e19 | 13 | Mirror_Kinematic(void); |
altb2 | 7:942fd77d5e19 | 14 | float screen_h; |
altb2 | 7:942fd77d5e19 | 15 | float n ; // Brechungsindex |
altb2 | 7:942fd77d5e19 | 16 | float dist_L; // distance laser0 to 2nd axis |
altb2 | 7:942fd77d5e19 | 17 | float screen_d; // thickness of screen / mmm |
altb2 | 7:942fd77d5e19 | 18 | void set_offsets(int16_t,int16_t); |
altb2 | 7:942fd77d5e19 | 19 | void set_additional_offsets(int16_t,int16_t); |
altb2 | 7:942fd77d5e19 | 20 | void add_additional_offsets(int16_t,int16_t); |
altb2 | 7:942fd77d5e19 | 21 | int16_t get_additional_offsets(uint8_t axis); |
altb2 | 7:942fd77d5e19 | 22 | int16_t add_additional_offsets(uint8_t axis); |
altb2 | 7:942fd77d5e19 | 23 | int16_t inc_offset[2]; |
altb2 | 7:942fd77d5e19 | 24 | int16_t inc_additional_offset[2]; |
altb2 | 7:942fd77d5e19 | 25 | float mot_inc_to_rad; |
altb2 | 7:942fd77d5e19 | 26 | float mot_rad_to_inc; |
altb2 | 7:942fd77d5e19 | 27 | bool P2X(float *,float *); |
altb2 | 7:942fd77d5e19 | 28 | bool X2P(float *,float *); |
altb2 | 7:942fd77d5e19 | 29 | bool trafo_is_on; |
altb2 | 7:942fd77d5e19 | 30 | bool external_control; |
altb2 | 7:942fd77d5e19 | 31 | bool controller_is_on; |
altb2 | 7:942fd77d5e19 | 32 | private: |
altb2 | 7:942fd77d5e19 | 33 | float old_phi[2]; |
altb2 | 7:942fd77d5e19 | 34 | |
altb2 | 7:942fd77d5e19 | 35 | }; |
altb2 | 7:942fd77d5e19 | 36 | |
altb2 | 7:942fd77d5e19 | 37 | #endif |
altb2 | 7:942fd77d5e19 | 38 | |
altb2 | 7:942fd77d5e19 | 39 |