Diff: ControllerLoop.h

Revision:

6:9ebeffe446e4

Parent:

5:768e10f6d372

Child:

7:942fd77d5e19

--- a/ControllerLoop.h	Thu Feb 25 20:28:45 2021 +0000
+++ b/ControllerLoop.h	Thu Apr 01 13:38:54 2021 +0000
@@ -5,19 +5,24 @@
 #include "LinearCharacteristics.h"
 #include "ThreadFlag.h"
 #include "path_1d.h"
-#include "PID_Cntrl.h"
+#include "PIDT2_Cntrl.h"
 #include "Unwrapper_2pi.h"
-
-
+#include "Mirror_Kinematic.h"
+#include "data_structs.h"
 
 extern EncoderCounter counter1,counter2;
 extern EncoderCounterIndex index1,index2;
 extern DiffCounter diff1,diff2;
 extern path_1d *current_path;
-extern LinearCharacteristics i2pwm;
-extern PwmOut i_des1, i_des2;
+extern LinearCharacteristics i2u;
+//extern AnalogOut i_des1, i_des2;
+extern AnalogOut i_des2;
 extern DigitalOut i_enable;
 extern Timer glob_ti;
+extern Mirror_Kinematic mc;
+extern DigitalOut laser_on;
+extern DATA_Xchange data;
+extern DigitalOut led1;
 
 // This is the loop class, it is not a controller at first hand, it guarantees a cyclic call
 class ControllerLoop
@@ -25,6 +30,9 @@
 public:
     ControllerLoop(float Ts);
     virtual     ~ControllerLoop();
+    void start_loop(void);
+    void init_controllers(void);
+    
 
 
 private:
@@ -35,5 +43,9 @@
     Timer ti;
     float Ts;
     void sendSignal();
-
+    bool is_initialized;
+    void find_index(void);
+    PIDT2_Cntrl v_cntrl[2];
+    Unwrapper_2pi uw2pi1;
+    Unwrapper_2pi uw2pi2;
 };