Diff: update_loop.h

Revision:

0:acf871f26563

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/update_loop.h	Fri Mar 08 13:34:59 2019 +0000
@@ -0,0 +1,52 @@
+#include "PI_Cntrl.h"
+#include "mbed.h"
+#include "Signal.h"
+#include "EncoderCounter.h"
+#include "DiffCounter.h"
+#include "angle_estimator.h"
+
+
+// define STATES:
+#define INIT 0              // at very beginning
+#define FLAT 10             // cuboid is flat, motor is controlled to zero
+#define BALANCE 20          // balancing
+#define SWING_DOWN 30       // move cuboid down
+
+
+
+
+class update_loop
+{
+public:
+
+    update_loop(float Ts, PinName);
+    virtual     ~update_loop();
+    InterruptIn button;
+
+private:
+    void loop(void);
+    Signal signal;
+    Thread thread;
+    Ticker ticker;
+    Mutex mutex;      // mutex to lock critical sections    
+    double Ts;
+    bool key_was_pressed;
+    Timer ti;
+    Timer t_but;                            // define button time        // 
+    PI_Cntrl vel_cntrl;  // velocity controller for motor
+    PI_Cntrl om2zero;  // slow vel. contrl. to bring motor to zero
+    Serial pc;
+    void sendSignal();
+    void pressed(void);             // user Button pressed
+    void released(void);            // user Button released
+    float cuboid_stab_cntrl(int);
+    float vel;
+    int CS;
+    int kk;
+    EncoderCounter counter1;    // 
+    DiffCounter diff;              // discrete differentiate, based on encoder data
+    float phi1_des;
+    angle_estimator AE;
+    AnalogOut out;
+    LinearCharacteristics i2u;       // output is normalized output
+};