Matti Borchers
/
mbed_amf_controlsystem_state_machine
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Fork of
mbed_amf_controlsystem_iO_copy
by 
Matti Borchers
Revision 4:f0be27a5a83a, committed 2016-02-04
- Comitter:
- mborchers
- Date:
- Thu Feb 04 09:33:42 2016 +0000
- Parent:
- 3:391c4639bc7d
- Child:
- 5:4319a748181a
- Child:
- 7:c5940ae7773a
- Commit message:
- Fehler behoben (s. Funktion "redirect_quadrature_controller")
Changed in this revision
--- a/Controller/QuadratureController.cpp Thu Feb 04 08:54:06 2016 +0000
+++ b/Controller/QuadratureController.cpp Thu Feb 04 09:33:42 2016 +0000
@@ -30,7 +30,7 @@
}
}
-void QuadratureController::cylic_control(void const *args) {
+void QuadratureController::cylic_control() {
check_queues();
q_e = steering_angle_set - steering_angle_current;
@@ -42,7 +42,7 @@
q_output = feed_forward + q_PI_controller;
if(q_output > 500){q_output = 500;} // evtl Begrenzung schon auf z.b. 300/ -300 stellen (wegen Linearität)
- if(q_output < -500){q_output = - 500;}
+ else if(q_output < -500){q_output = - 500;}
q_PWM = 1500 + q_output;
--- a/Controller/QuadratureController.h Thu Feb 04 08:54:06 2016 +0000
+++ b/Controller/QuadratureController.h Thu Feb 04 09:33:42 2016 +0000
@@ -26,7 +26,7 @@
void check_queues();
public:
QuadratureController(PwmOut *pwmOut);
- void cylic_control(void const *args);
+ void cylic_control();
};
#endif
\ No newline at end of file
--- a/main.cpp Thu Feb 04 08:54:06 2016 +0000
+++ b/main.cpp Thu Feb 04 09:33:42 2016 +0000
@@ -23,6 +23,8 @@
IMU_RegisterDataBuffer_t *IMU_registerDataBuffer;
RadioDecoder_RegisterDataBuffer_t *RadioDecoder_registerDataBuffer;
+QuadratureController *quadratureController;
+
// Queues von der Bahnplanung
Queue<float, 2> quadrature_queue;
Queue<float, 2> machine_direction_queue;
@@ -92,6 +94,10 @@
drivePWM.pulsewidth_us(l_PWM);
}
+void redirect_quadrature_controller(void const *args) {
+ quadratureController->cylic_control();
+}
+
int main() {
serialMinnow.baud(115200);
@@ -102,12 +108,12 @@
SupportSystem *supportSystem = new SupportSystem(0x80, &i2c);
- QuadratureController *quadratureController = new QuadratureController(&steerPWM);
+ quadratureController = new QuadratureController(&steerPWM);
Thread machineDirectionControl(serial_thread);
RtosTimer machine_direction_control_timer(machine_direction_control);
- RtosTimer quadrature_control_timer(quadratureController->cylic_control);
+ RtosTimer quadrature_control_timer(redirect_quadrature_controller);
// Konfiguration AMF-IMU
// [0]: Conversation Factor