Diff: ControllerLoop.h

Revision:

13:1bf960928a93

Parent:

8:49ac75c42da0

diff -r d43f8b421d6d -r 1bf960928a93 ControllerLoop.h
--- a/ControllerLoop.h	Wed Apr 28 12:51:02 2021 +0000
+++ b/ControllerLoop.h	Sat May 01 20:08:24 2021 +0000
@@ -1,34 +1,6 @@
 #include "mbed.h"
-#include "EncoderCounter.h"
-#include "EncoderCounterIndex.h"
-#include "DiffCounter.h"
-#include "LinearCharacteristics.h"
 #include "ThreadFlag.h"
-#include "path_1d.h"
-#include "PIDT2_Cntrl.h"
-#include "Unwrapper_2pi.h"
-#include "Mirror_Kinematic.h"
-#include "data_structs.h"
-#include "GPA.h"
-#include "FastPWM.h"
 
-extern EncoderCounter counter1,counter2;
-extern EncoderCounterIndex index1,index2;
-extern DiffCounter diff1,diff2;
-extern path_1d *current_path;
-extern LinearCharacteristics i2u;
-extern LinearCharacteristics u2i;
-//extern FastPWM i_des1;
-extern AnalogOut i_des1;
-extern AnalogOut i_des2;
-extern DigitalOut i_enable;
-extern DigitalIn big_button;
-extern Timer glob_ti;
-extern Mirror_Kinematic mk;
-extern DigitalOut laser_on;
-extern DATA_Xchange data;
-extern GPA myGPA;
-//extern AnalogIn i_act2;
 
 // This is the loop class, it is not a controller at first hand, it guarantees a cyclic call
 class ControllerLoop
@@ -49,12 +21,4 @@
     Timer ti;
     float Ts;
     void sendSignal();
-    bool is_initialized;
-    void find_index(void);
-    PIDT2_Cntrl v_cntrl[2];
-    Unwrapper_2pi uw2pi1;
-    Unwrapper_2pi uw2pi2;
-    float pos_cntrl(float);
-    float Kv;
-    DigitalOut dout1;
 };