Diff: ControllerLoop.h

Revision:

5:768e10f6d372

Child:

6:9ebeffe446e4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ControllerLoop.h	Thu Feb 25 20:28:45 2021 +0000
@@ -0,0 +1,39 @@
+#include "mbed.h"
+#include "EncoderCounter.h"
+#include "EncoderCounterIndex.h"
+#include "DiffCounter.h"
+#include "LinearCharacteristics.h"
+#include "ThreadFlag.h"
+#include "path_1d.h"
+#include "PID_Cntrl.h"
+#include "Unwrapper_2pi.h"
+
+
+
+extern EncoderCounter counter1,counter2;
+extern EncoderCounterIndex index1,index2;
+extern DiffCounter diff1,diff2;
+extern path_1d *current_path;
+extern LinearCharacteristics i2pwm;
+extern PwmOut i_des1, i_des2;
+extern DigitalOut i_enable;
+extern Timer glob_ti;
+
+// This is the loop class, it is not a controller at first hand, it guarantees a cyclic call
+class ControllerLoop
+{
+public:
+    ControllerLoop(float Ts);
+    virtual     ~ControllerLoop();
+
+
+private:
+    void loop(void);
+    Thread thread;
+    Ticker ticker;
+    ThreadFlag threadFlag;
+    Timer ti;
+    float Ts;
+    void sendSignal();
+
+};