Matti Borchers / Mbed 2 deprecated mbed_amf_controlsystem_iO_copy

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Dependencies:   mbed-rtos mbed

Fork of mbed_amf_controlsystem_iO_copy by Oliver Wenzel

Controller/MachineDirectionController.h@13:34f7f783ad24, 2016-02-05 (annotated)

Committer:
mborchers
Date:
Fri Feb 05 16:06:44 2016 +0000
Revision:
13:34f7f783ad24
Child:
14:48cdd880ca1a
L?ngsregelung ausgelagert

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mborchers 13:34f7f783ad24 1 #ifndef MACHINE_DIRECTION_CONTROLLER_H
mborchers 13:34f7f783ad24 2 #define MACHINE_DIRECTION_CONTROLLER_H
mborchers 13:34f7f783ad24 3
mborchers 13:34f7f783ad24 4 #include <mbed.h>
mborchers 13:34f7f783ad24 5 #include <I2C.h>
mborchers 13:34f7f783ad24 6 #include "rtos.h"
mborchers 13:34f7f783ad24 7
mborchers 13:34f7f783ad24 8 /*
mborchers 13:34f7f783ad24 9 * Necessary for strcut sizes
mborchers 13:34f7f783ad24 10 */
mborchers 13:34f7f783ad24 11 #pragma pack (1)
mborchers 13:34f7f783ad24 12
mborchers 13:34f7f783ad24 13 class MachineDirectionController{
mborchers 13:34f7f783ad24 14
mborchers 13:34f7f783ad24 15 private:
mborchers 13:34f7f783ad24 16 PwmOut *pwmOut;
mborchers 13:34f7f783ad24 17 Queue<float, 2> *machine_direction_queue;
mborchers 13:34f7f783ad24 18 Queue<float, 2> *imu_queue_velocity;
mborchers 13:34f7f783ad24 19 osEvent velocity_set_event, velocity_current_event;
mborchers 13:34f7f783ad24 20
mborchers 13:34f7f783ad24 21 uint8_t timer_velocity_sampling_time;
mborchers 13:34f7f783ad24 22
mborchers 13:34f7f783ad24 23 float velocity_set;
mborchers 13:34f7f783ad24 24 float velocity_current;
mborchers 13:34f7f783ad24 25 float l_esum, Vorsteuerung, PI_Regler, l_output, l_PWM, l_e, l_Kp, l_Ki;
mborchers 13:34f7f783ad24 26
mborchers 13:34f7f783ad24 27 void init();
mborchers 13:34f7f783ad24 28 void check_queues();
mborchers 13:34f7f783ad24 29 public:
mborchers 13:34f7f783ad24 30 MachineDirectionController(PwmOut *pwmOut, Queue<float, 2> *machine_direction_queue, Queue<float, 2> *imu_queue_velocity);
mborchers 13:34f7f783ad24 31 void cylic_control();
mborchers 13:34f7f783ad24 32 };
mborchers 13:34f7f783ad24 33
mborchers 13:34f7f783ad24 34 #endif