Class Controller

class Controller

This is a simple PD control on one motor and one slider.

Public Functions

inline Controller(std::shared_ptr<blmc_drivers::Motor> motor, std::shared_ptr<blmc_drivers::AnalogSensor> analog_sensor)

Construct a new Controller object.

Parameters:

• motor –

• analog_sensor –

inline void start_loop()

main control loop

Public Static Functions

static inline THREAD_FUNCTION_RETURN_TYPE loop(void *instance_pointer)

this function is just a wrapper around the actual loop function, such that it can be spawned as a posix thread.