Matti Borchers
/
mbed_amf_controlsystem_iO_copy
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Fork of
mbed_amf_controlsystem_iO_copy
by 
Oliver Wenzel
Diff: Controller/QuadratureController.h
- Revision:
- 18:0e8ad413a840
- Parent:
- 17:76636aaf80de
--- a/Controller/QuadratureController.h Mon Feb 08 14:56:34 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,32 +0,0 @@
-#ifndef QUADRATURE_CONTROLLER_H
-#define QUADRATURE_CONTROLLER_H
-
-#include <mbed.h>
-#include <I2C.h>
-#include "rtos.h"
-
-/*
- * Necessary for strcut sizes
- */
-#pragma pack (1)
-
-class QuadratureController{
-
-private:
- PwmOut *pwmOut;
- Queue<float, 2> *quadrature_queue;
- Queue<float, 2> *imu_queue_steering_angle;
- osEvent steering_angle_set_event, steering_angle_current_event;
-
- uint8_t timer_steering_angle_sampling_time;
- float q_Kp, q_Ki, feed_forward_control_factor, q_esum, feed_forward, q_Ki_sampling_time;
- float q_PI_controller, q_PWM, q_e, q_output, steering_angle_set, steering_angle_current;
-
- void init();
- void check_queues();
-public:
- QuadratureController(PwmOut *pwmOut, Queue<float, 2> *quadrature_queue, Queue<float, 2> *imu_queue_steering_angle);
- void cylic_control();
-};
-
-#endif
\ No newline at end of file