File content as of revision 3:8b42e643b294:

#ifndef SpeedController_H_
#define SpeedController_H_
#include <cstdlib>
#include <mbed.h>
#include "EncoderCounter.h"
#include "LowpassFilter.h"
#include "ThreadFlag.h"

class SpeedController
{

public:

    SpeedController(PwmOut& pwm, EncoderCounter& encoderCounter);

    virtual ~SpeedController();

    void     setDesiredSpeed(float desiredSpeed);
    float    getSpeed();

private:

    static const float PERIOD;
    static const float COUNTS_PER_TURN;
    static const float LOWPASS_FILTER_FREQUENCY;
    static const float KN;
    static const float KP;
    static const float MAX_VOLTAGE;
    static const float MIN_DUTY_CYCLE;
    static const float MAX_DUTY_CYCLE;

    PwmOut&            pwm;
    EncoderCounter&    encoderCounter;
    short              previousValueCounter;
    LowpassFilter      speedFilter;
    float              desiredSpeed;
    float              actualSpeed;
    float              actualAngle;

    ThreadFlag         threadFlag;
    Thread             thread;
    Ticker             ticker;

    void               sendThreadFlag();
    void               run();

};

#endif /* SpeedController_H_ */