Diff: ControllerLoop.h

Revision:

7:942fd77d5e19

Parent:

6:9ebeffe446e4

Child:

8:49ac75c42da0

--- a/ControllerLoop.h	Thu Apr 01 13:38:54 2021 +0000
+++ b/ControllerLoop.h	Thu Apr 15 05:36:55 2021 +0000
@@ -15,14 +15,12 @@
 extern DiffCounter diff1,diff2;
 extern path_1d *current_path;
 extern LinearCharacteristics i2u;
-//extern AnalogOut i_des1, i_des2;
-extern AnalogOut i_des2;
+extern AnalogOut i_des1, i_des2;
 extern DigitalOut i_enable;
 extern Timer glob_ti;
-extern Mirror_Kinematic mc;
+extern Mirror_Kinematic mk;
 extern DigitalOut laser_on;
 extern DATA_Xchange data;
-extern DigitalOut led1;
 
 // This is the loop class, it is not a controller at first hand, it guarantees a cyclic call
 class ControllerLoop
@@ -48,4 +46,7 @@
     PIDT2_Cntrl v_cntrl[2];
     Unwrapper_2pi uw2pi1;
     Unwrapper_2pi uw2pi2;
+    float pos_cntrl(float);
+    float Kv;
+    DigitalOut dout1;
 };