MachineDirectionController.h

00001 #ifndef MACHINE_DIRECTION_CONTROLLER_H
00002 #define MACHINE_DIRECTION_CONTROLLER_H
00003 
00004 #include <mbed.h>
00005 #include <I2C.h>
00006 #include "rtos.h"
00007 
00008 /*
00009  * Necessary for strcut sizes
00010  */
00011 #pragma pack (1)
00012 
00013 class MachineDirectionController{
00014 
00015 private:
00016     PwmOut *pwmOut;
00017     Queue<float, 2> *machine_direction_queue;
00018     Queue<float, 2> *imu_queue_velocity;
00019     osEvent velocity_set_event, velocity_current_event;
00020     
00021     uint8_t timer_velocity_sampling_time;
00022     
00023     float velocity_set;
00024     float velocity_current;
00025     float l_esum, Vorsteuerung, PI_Regler, l_output, l_PWM, l_e, l_Kp, l_Ki;
00026     
00027     void init();
00028     void check_queues();
00029 public:
00030     MachineDirectionController(PwmOut *pwmOut, Queue<float, 2> *machine_direction_queue, Queue<float, 2> *imu_queue_velocity);
00031     void cylic_control();
00032 };
00033 
00034 #endif