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@3:391c4639bc7d, 2016-02-04 (annotated)

Committer:
mborchers
Date:
Thu Feb 04 08:54:06 2016 +0000
Revision:
3:391c4639bc7d
Child:
4:f0be27a5a83a
Habe versucht die Querregelung in eine Klasse auszulagern (Quadrature Control). Er wirft allerdings ein Fehler wenn ich die Funktion aus dem Klasse dem Timer ?bergeben will.

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:
mborchers 3:391c4639bc7d 28 QuadratureController(PwmOut *pwmOut);
mborchers 3:391c4639bc7d 29 void cylic_control(void const *args);
mborchers 3:391c4639bc7d 30 };
mborchers 3:391c4639bc7d 31
mborchers 3:391c4639bc7d 32 #endif