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/QuadratureController.h@6:aa27bc8c58f5, 2016-02-04 (annotated)

Committer:
torstenwylegala
Date:
Thu Feb 04 17:46:19 2016 +0000
Revision:
6:aa27bc8c58f5
Parent:
4:f0be27a5a83a 
foo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mborchers 3:391c4639bc7d 1 #ifndef QUADRATURE_CONTROLLER_H
mborchers 3:391c4639bc7d 2 #define QUADRATURE_CONTROLLER_H
mborchers 3:391c4639bc7d 3
mborchers 3:391c4639bc7d 4 #include <mbed.h>
mborchers 3:391c4639bc7d 5 #include <I2C.h>
mborchers 3:391c4639bc7d 6 #include "rtos.h"
mborchers 3:391c4639bc7d 7
mborchers 3:391c4639bc7d 8 /*
mborchers 3:391c4639bc7d 9 * Necessary for strcut sizes
mborchers 3:391c4639bc7d 10 */
mborchers 3:391c4639bc7d 11 #pragma pack (1)
mborchers 3:391c4639bc7d 12
mborchers 3:391c4639bc7d 13 class QuadratureController{
mborchers 3:391c4639bc7d 14
mborchers 3:391c4639bc7d 15 private:
mborchers 3:391c4639bc7d 16 PwmOut *pwmOut;
mborchers 3:391c4639bc7d 17 Queue<float, 2> *quadrature_queue;
mborchers 3:391c4639bc7d 18 Queue<float, 2> *imu_queue_steering_angle;
mborchers 3:391c4639bc7d 19 osEvent steering_angle_set_event, steering_angle_current_event;
mborchers 3:391c4639bc7d 20
mborchers 3:391c4639bc7d 21 uint8_t timer_steering_angle_sampling_time;
mborchers 3:391c4639bc7d 22 float q_Kp, q_Ki, feed_forward_control_factor, q_esum, feed_forward, q_Ki_sampling_time;
mborchers 3:391c4639bc7d 23 float q_PI_controller, q_PWM, q_e, q_output, steering_angle_set, steering_angle_current;
mborchers 3:391c4639bc7d 24
mborchers 3:391c4639bc7d 25 void init();
mborchers 3:391c4639bc7d 26 void check_queues();
mborchers 3:391c4639bc7d 27 public:
torstenwylegala 6:aa27bc8c58f5 28 QuadratureController(PwmOut *pwmOut, Queue<float, 2> *quadrature_queue, Queue<float, 2> *imu_queue_steering_angle);
mborchers 4:f0be27a5a83a 29 void cylic_control();
mborchers 3:391c4639bc7d 30 };
mborchers 3:391c4639bc7d 31
mborchers 3:391c4639bc7d 32 #endif