Ruprecht Altenburger / Mbed OS mirror_actuator_V1

Mirror actuator for RT2 lab

Dependencies:   FastPWM

ControllerLoop.h@7:942fd77d5e19, 2021-04-15 (annotated)

Committer:
altb2
Date:
Thu Apr 15 05:36:55 2021 +0000
Revision:
7:942fd77d5e19
Parent:
6:9ebeffe446e4
Child:
8:49ac75c42da0
intermediate

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 5:768e10f6d372 1 #include "mbed.h"
altb2 5:768e10f6d372 2 #include "EncoderCounter.h"
altb2 5:768e10f6d372 3 #include "EncoderCounterIndex.h"
altb2 5:768e10f6d372 4 #include "DiffCounter.h"
altb2 5:768e10f6d372 5 #include "LinearCharacteristics.h"
altb2 5:768e10f6d372 6 #include "ThreadFlag.h"
altb2 5:768e10f6d372 7 #include "path_1d.h"
altb2 6:9ebeffe446e4 8 #include "PIDT2_Cntrl.h"
altb2 5:768e10f6d372 9 #include "Unwrapper_2pi.h"
altb2 6:9ebeffe446e4 10 #include "Mirror_Kinematic.h"
altb2 6:9ebeffe446e4 11 #include "data_structs.h"
altb2 5:768e10f6d372 12
altb2 5:768e10f6d372 13 extern EncoderCounter counter1,counter2;
altb2 5:768e10f6d372 14 extern EncoderCounterIndex index1,index2;
altb2 5:768e10f6d372 15 extern DiffCounter diff1,diff2;
altb2 5:768e10f6d372 16 extern path_1d *current_path;
altb2 6:9ebeffe446e4 17 extern LinearCharacteristics i2u;
altb2 7:942fd77d5e19 18 extern AnalogOut i_des1, i_des2;
altb2 5:768e10f6d372 19 extern DigitalOut i_enable;
altb2 5:768e10f6d372 20 extern Timer glob_ti;
altb2 7:942fd77d5e19 21 extern Mirror_Kinematic mk;
altb2 6:9ebeffe446e4 22 extern DigitalOut laser_on;
altb2 6:9ebeffe446e4 23 extern DATA_Xchange data;
altb2 5:768e10f6d372 24
altb2 5:768e10f6d372 25 // This is the loop class, it is not a controller at first hand, it guarantees a cyclic call
altb2 5:768e10f6d372 26 class ControllerLoop
altb2 5:768e10f6d372 27 {
altb2 5:768e10f6d372 28 public:
altb2 5:768e10f6d372 29 ControllerLoop(float Ts);
altb2 5:768e10f6d372 30 virtual ~ControllerLoop();
altb2 6:9ebeffe446e4 31 void start_loop(void);
altb2 6:9ebeffe446e4 32 void init_controllers(void);
altb2 6:9ebeffe446e4 33
altb2 5:768e10f6d372 34
altb2 5:768e10f6d372 35
altb2 5:768e10f6d372 36 private:
altb2 5:768e10f6d372 37 void loop(void);
altb2 5:768e10f6d372 38 Thread thread;
altb2 5:768e10f6d372 39 Ticker ticker;
altb2 5:768e10f6d372 40 ThreadFlag threadFlag;
altb2 5:768e10f6d372 41 Timer ti;
altb2 5:768e10f6d372 42 float Ts;
altb2 5:768e10f6d372 43 void sendSignal();
altb2 6:9ebeffe446e4 44 bool is_initialized;
altb2 6:9ebeffe446e4 45 void find_index(void);
altb2 6:9ebeffe446e4 46 PIDT2_Cntrl v_cntrl[2];
altb2 6:9ebeffe446e4 47 Unwrapper_2pi uw2pi1;
altb2 6:9ebeffe446e4 48 Unwrapper_2pi uw2pi2;
altb2 7:942fd77d5e19 49 float pos_cntrl(float);
altb2 7:942fd77d5e19 50 float Kv;
altb2 7:942fd77d5e19 51 DigitalOut dout1;
altb2 5:768e10f6d372 52 };