Ruprecht Altenburger
/
mirror_actuator_V1
Mirror actuator for RT2 lab
ControllerLoop.cpp
- Committer:
- altb2
- Date:
- 2021-05-01
- Revision:
- 14:1be03d1c45c7
- Parent:
- 13:1bf960928a93
File content as of revision 14:1be03d1c45c7:
#include "ControllerLoop.h" using namespace std; // contructor for controller loop ControllerLoop::ControllerLoop(float Ts) : thread(osPriorityHigh,4096) { this->Ts = Ts; } // decontructor for controller loop ControllerLoop::~ControllerLoop() {} // ---------------------------------------------------------------------------- // this is the main loop called every Ts with high priority void ControllerLoop::loop(void){ while(1) { ThisThread::flags_wait_any(threadFlag); // THE LOOP ------------------------------------------------------------ printf("I am called!\r\n"); }// endof the main loop } void ControllerLoop::sendSignal() { thread.flags_set(threadFlag); } void ControllerLoop::start_loop(void) { thread.start(callback(this, &ControllerLoop::loop)); ticker.attach(callback(this, &ControllerLoop::sendSignal), Ts); } void ControllerLoop::init_controllers(void) { // set values for your velocity and position controller here! }