Ruprecht Altenburger
/
mirror_actuator_V1
Mirror actuator for RT2 lab
Diff: ControllerLoop.h
- Revision:
- 7:942fd77d5e19
- Parent:
- 6:9ebeffe446e4
- Child:
- 8:49ac75c42da0
diff -r 9ebeffe446e4 -r 942fd77d5e19 ControllerLoop.h --- a/ControllerLoop.h Thu Apr 01 13:38:54 2021 +0000 +++ b/ControllerLoop.h Thu Apr 15 05:36:55 2021 +0000 @@ -15,14 +15,12 @@ extern DiffCounter diff1,diff2; extern path_1d *current_path; extern LinearCharacteristics i2u; -//extern AnalogOut i_des1, i_des2; -extern AnalogOut i_des2; +extern AnalogOut i_des1, i_des2; extern DigitalOut i_enable; extern Timer glob_ti; -extern Mirror_Kinematic mc; +extern Mirror_Kinematic mk; 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 @@ -48,4 +46,7 @@ PIDT2_Cntrl v_cntrl[2]; Unwrapper_2pi uw2pi1; Unwrapper_2pi uw2pi2; + float pos_cntrl(float); + float Kv; + DigitalOut dout1; };