Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
Diff: context.h
- Revision:
- 24:f1ff9c7256b5
- Parent:
- 17:fd6771a6685a
- Child:
- 26:d00561c7bf43
--- a/context.h Mon Mar 09 08:28:22 2015 +0000 +++ b/context.h Mon Mar 09 11:33:14 2015 +0000 @@ -9,6 +9,8 @@ #include "meta.h" #include "sensors.h" +class BufferedDebugger; + class Context { public: Context(); @@ -18,6 +20,7 @@ void ConfigureThrottle(PinName throttle_pin, float min, float max); void ConfigurePositionSensor(PinName pos_a_pin, PinName pos_b_pin, float cal1_a, float cal2_a, float cal1_b, float cal2_b, float offset); void ConfigureReference(float max_current); + void ConfigureDebugger(int debugger_channels, int debugger_size); void AttachCallBack(void (*f)(Context *), int freq); void Start(); public: @@ -34,6 +37,7 @@ Serial *serial; ReferenceSynthesizer *reference; LtiFilter *filter_d, *filter_q; + BufferedDebugger *debugger; private: void InitData(); private: @@ -41,6 +45,7 @@ private: PinName _oa, _ob, _oc, _ib_pin, _ic_pin, _throttle_pin, _pos_a_pin, _pos_b_pin, _en; float _ki, _kp, _kd, _min, _max, _cal1_a, _cal2_a, _cal1_b, _cal2_b, _scale, _offset, _max_current, _filter_strength; + int _debugger_channels, _debugger_size; float _pidmax, _pidmin; void (*_callbacks[16])(Context *); unsigned long _call_times[16];