Ruprecht Altenburger
/
simple_program
Simple program for introduction of mirror actuator.
ControllerLoop.h
- Committer:
- altb2
- Date:
- 2021-02-25
- Revision:
- 5:768e10f6d372
- Child:
- 6:9ebeffe446e4
File content as of revision 5:768e10f6d372:
#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(); };