Ruprecht Altenburger / Mbed OS simple_program

Simple program for introduction of mirror actuator.

ControllerLoop.h@5:768e10f6d372, 2021-02-25 (annotated)

Committer:
altb2
Date:
Thu Feb 25 20:28:45 2021 +0000
Revision:
5:768e10f6d372
Child:
6:9ebeffe446e4
first commit of Mirror actuator

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 5:768e10f6d372 1 #include "mbed.h"
altb2 5:768e10f6d372 2 #include "EncoderCounter.h"
altb2 5:768e10f6d372 3 #include "EncoderCounterIndex.h"
altb2 5:768e10f6d372 4 #include "DiffCounter.h"
altb2 5:768e10f6d372 5 #include "LinearCharacteristics.h"
altb2 5:768e10f6d372 6 #include "ThreadFlag.h"
altb2 5:768e10f6d372 7 #include "path_1d.h"
altb2 5:768e10f6d372 8 #include "PID_Cntrl.h"
altb2 5:768e10f6d372 9 #include "Unwrapper_2pi.h"
altb2 5:768e10f6d372 10
altb2 5:768e10f6d372 11
altb2 5:768e10f6d372 12
altb2 5:768e10f6d372 13 extern EncoderCounter counter1,counter2;
altb2 5:768e10f6d372 14 extern EncoderCounterIndex index1,index2;
altb2 5:768e10f6d372 15 extern DiffCounter diff1,diff2;
altb2 5:768e10f6d372 16 extern path_1d *current_path;
altb2 5:768e10f6d372 17 extern LinearCharacteristics i2pwm;
altb2 5:768e10f6d372 18 extern PwmOut i_des1, i_des2;
altb2 5:768e10f6d372 19 extern DigitalOut i_enable;
altb2 5:768e10f6d372 20 extern Timer glob_ti;
altb2 5:768e10f6d372 21
altb2 5:768e10f6d372 22 // This is the loop class, it is not a controller at first hand, it guarantees a cyclic call
altb2 5:768e10f6d372 23 class ControllerLoop
altb2 5:768e10f6d372 24 {
altb2 5:768e10f6d372 25 public:
altb2 5:768e10f6d372 26 ControllerLoop(float Ts);
altb2 5:768e10f6d372 27 virtual ~ControllerLoop();
altb2 5:768e10f6d372 28
altb2 5:768e10f6d372 29
altb2 5:768e10f6d372 30 private:
altb2 5:768e10f6d372 31 void loop(void);
altb2 5:768e10f6d372 32 Thread thread;
altb2 5:768e10f6d372 33 Ticker ticker;
altb2 5:768e10f6d372 34 ThreadFlag threadFlag;
altb2 5:768e10f6d372 35 Timer ti;
altb2 5:768e10f6d372 36 float Ts;
altb2 5:768e10f6d372 37 void sendSignal();
altb2 5:768e10f6d372 38
altb2 5:768e10f6d372 39 };