Matti Borchers
/
mbed_amf_controlsystem_iO_copy
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Fork of
mbed_amf_controlsystem_iO_copy
by 
Oliver Wenzel
Diff: Controller/MachineDirectionController.h
- Revision:
- 13:34f7f783ad24
- Child:
- 14:48cdd880ca1a
--- /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