Ruprecht Altenburger / Mbed OS simple_program

Simple program for introduction of mirror actuator.

ControllerLoop.cpp@14:1be03d1c45c7, 2021-05-01 (annotated)

Committer:
altb2
Date:
Sat May 01 20:08:51 2021 +0000
Revision:
14:1be03d1c45c7
Parent:
13:1bf960928a93 
2nd commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 5:768e10f6d372 1 #include "ControllerLoop.h"
altb2 5:768e10f6d372 2 using namespace std;
altb2 5:768e10f6d372 3
altb2 10:bfacffec199a 4 // contructor for controller loop
altb2 13:1bf960928a93 5 ControllerLoop::ControllerLoop(float Ts) : thread(osPriorityHigh,4096)
altb2 5:768e10f6d372 6 {
altb2 13:1bf960928a93 7 this->Ts = Ts;
altb2 13:1bf960928a93 8 }
altb2 5:768e10f6d372 9
altb2 10:bfacffec199a 10 // decontructor for controller loop
altb2 5:768e10f6d372 11 ControllerLoop::~ControllerLoop() {}
altb2 5:768e10f6d372 12
altb2 10:bfacffec199a 13 // ----------------------------------------------------------------------------
altb2 10:bfacffec199a 14 // this is the main loop called every Ts with high priority
altb2 5:768e10f6d372 15 void ControllerLoop::loop(void){
altb2 5:768e10f6d372 16 while(1)
altb2 5:768e10f6d372 17 {
altb2 5:768e10f6d372 18 ThisThread::flags_wait_any(threadFlag);
altb2 5:768e10f6d372 19 // THE LOOP ------------------------------------------------------------
altb2 14:1be03d1c45c7 20 printf("I am called!\r\n");
altb2 11:d43f8b421d6d 21 }// endof the main loop
altb2 5:768e10f6d372 22 }
altb2 5:768e10f6d372 23
altb2 5:768e10f6d372 24 void ControllerLoop::sendSignal() {
altb2 5:768e10f6d372 25 thread.flags_set(threadFlag);
altb2 5:768e10f6d372 26 }
altb2 6:9ebeffe446e4 27 void ControllerLoop::start_loop(void)
altb2 6:9ebeffe446e4 28 {
altb2 6:9ebeffe446e4 29 thread.start(callback(this, &ControllerLoop::loop));
altb2 6:9ebeffe446e4 30 ticker.attach(callback(this, &ControllerLoop::sendSignal), Ts);
altb2 6:9ebeffe446e4 31 }
altb2 7:942fd77d5e19 32
altb2 6:9ebeffe446e4 33 void ControllerLoop::init_controllers(void)
altb2 6:9ebeffe446e4 34 {
altb2 11:d43f8b421d6d 35 // set values for your velocity and position controller here!
altb2 6:9ebeffe446e4 36 }