![](/media/cache/profiles/altb_JGUSAOG.jpg.50x50_q85.jpg)
template for students for mirror actuator
Mirror_Kinematic.h
- Committer:
- altb2
- Date:
- 2021-05-02
- Revision:
- 0:d2e117716219
File content as of revision 0:d2e117716219:
#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