Matti Borchers / Mbed 2 deprecated mbed_amf_controlsystem

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed-rtos mbed

Diff: Controller/MachineDirectionController.h

Revision:
13:34f7f783ad24
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Controller/MachineDirectionController.h	Fri Feb 05 16:06:44 2016 +0000
@@ -0,0 +1,34 @@
+#ifndef MACHINE_DIRECTION_CONTROLLER_H
+#define MACHINE_DIRECTION_CONTROLLER_H
+
+#include <mbed.h>
+#include <I2C.h>
+#include "rtos.h"
+
+/*
+ * Necessary for strcut sizes
+ */
+#pragma pack (1)
+
+class MachineDirectionController{
+
+private:
+    PwmOut *pwmOut;
+    Queue<float, 2> *machine_direction_queue;
+    Queue<float, 2> *imu_queue_velocity;
+    osEvent velocity_set_event, velocity_current_event;
+    
+    uint8_t timer_velocity_sampling_time;
+    
+    float velocity_set;
+    float velocity_current;
+    float l_esum, Vorsteuerung, PI_Regler, l_output, l_PWM, l_e, l_Kp, l_Ki;
+    
+    void init();
+    void check_queues();
+public:
+    MachineDirectionController(PwmOut *pwmOut, Queue<float, 2> *machine_direction_queue, Queue<float, 2> *imu_queue_velocity);
+    void cylic_control();
+};
+
+#endif
\ No newline at end of file