Ruprecht Altenburger
/
mirror_actuator_V1
Mirror actuator for RT2 lab
Diff: Mirror_Kinematic.h
- Revision:
- 7:942fd77d5e19
diff -r 9ebeffe446e4 -r 942fd77d5e19 Mirror_Kinematic.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Mirror_Kinematic.h Thu Apr 15 05:36:55 2021 +0000 @@ -0,0 +1,39 @@ +#ifndef MIRROR_KINEMATIC_H_ +#define MIRROR_KINEMATIC_H_ + +#include "mbed.h" +#include "data_structs.h" + +extern DATA_Xchange data; + + +class Mirror_Kinematic +{ +public: + Mirror_Kinematic(void); + float screen_h; + float n ; // Brechungsindex + float dist_L; // distance laser0 to 2nd axis + float screen_d; // thickness of screen / mmm + void set_offsets(int16_t,int16_t); + void set_additional_offsets(int16_t,int16_t); + void add_additional_offsets(int16_t,int16_t); + int16_t get_additional_offsets(uint8_t axis); + int16_t add_additional_offsets(uint8_t axis); + int16_t inc_offset[2]; + int16_t inc_additional_offset[2]; + float mot_inc_to_rad; + float mot_rad_to_inc; + bool P2X(float *,float *); + bool X2P(float *,float *); + bool trafo_is_on; + bool external_control; + bool controller_is_on; +private: + float old_phi[2]; + + }; + +#endif + +