![](/media/cache/profiles/altb_JGUSAOG.jpg.50x50_q85.jpg)
Simple program for introduction of mirror actuator.
Diff: ControllerLoop.h
- Revision:
- 13:1bf960928a93
- Parent:
- 8:49ac75c42da0
diff -r d43f8b421d6d -r 1bf960928a93 ControllerLoop.h --- a/ControllerLoop.h Wed Apr 28 12:51:02 2021 +0000 +++ b/ControllerLoop.h Sat May 01 20:08:24 2021 +0000 @@ -1,34 +1,6 @@ #include "mbed.h" -#include "EncoderCounter.h" -#include "EncoderCounterIndex.h" -#include "DiffCounter.h" -#include "LinearCharacteristics.h" #include "ThreadFlag.h" -#include "path_1d.h" -#include "PIDT2_Cntrl.h" -#include "Unwrapper_2pi.h" -#include "Mirror_Kinematic.h" -#include "data_structs.h" -#include "GPA.h" -#include "FastPWM.h" -extern EncoderCounter counter1,counter2; -extern EncoderCounterIndex index1,index2; -extern DiffCounter diff1,diff2; -extern path_1d *current_path; -extern LinearCharacteristics i2u; -extern LinearCharacteristics u2i; -//extern FastPWM i_des1; -extern AnalogOut i_des1; -extern AnalogOut i_des2; -extern DigitalOut i_enable; -extern DigitalIn big_button; -extern Timer glob_ti; -extern Mirror_Kinematic mk; -extern DigitalOut laser_on; -extern DATA_Xchange data; -extern GPA myGPA; -//extern AnalogIn i_act2; // This is the loop class, it is not a controller at first hand, it guarantees a cyclic call class ControllerLoop @@ -49,12 +21,4 @@ Timer ti; float Ts; void sendSignal(); - bool is_initialized; - void find_index(void); - PIDT2_Cntrl v_cntrl[2]; - Unwrapper_2pi uw2pi1; - Unwrapper_2pi uw2pi2; - float pos_cntrl(float); - float Kv; - DigitalOut dout1; };