Controller.h

00001 #ifndef CONTROLLER_H_
00002 #define CONTROLLER_H_
00003 
00004 /* Cntrl_Libary */
00005 #include "EncoderCounter.h"
00006 #include "IIR_filter.h"
00007 #include "LinearCharacteristics.h"
00008 #include "PID_Cntrl.h"
00009 #include "ThreadFlag.h"
00010 
00011 class Controller
00012 {
00013 public:
00014 
00015     Controller(float Ts);
00016 
00017     virtual ~Controller();
00018 
00019     void           reset();
00020     void           start_loop();
00021 
00022 private:
00023 
00024     Timer          user_button_timer, loop_timer;
00025     float          time_offset;
00026     bool           executeMainTask, isFirstTimeMeas;
00027     InterruptIn    user_button;
00028 
00029     float Ts;
00030     
00031     EncoderCounter encoderCounter;
00032     short          count_past;
00033     long           count;
00034     AnalogIn       u_accx, u_accy, u_gyro;
00035     AnalogOut      u_i;
00036     float          time, accx, accy, gyro, phi1, phi2, dphi2, M;   
00037     LinearCharacteristics u2accx, u2accy, u2gyro, i2u;
00038     IIR_filter     Gacc, Ggyro, Gdiff, Gf;
00039     PID_Cntrl      Ci;
00040 
00041     BufferedSerial bufferedSerial;
00042     char           buffer[200];
00043     int            write_counter, write_counter_write_val;
00044 
00045     Mutex          mutex;
00046     ThreadFlag     threadFlag;
00047     Thread         thread;
00048     Ticker         ticker;
00049 
00050     void           loop();
00051     void           sendThreadFlag();
00052 
00053     void           button_fall();
00054     void           button_rise();
00055 };
00056 
00057 #endif