Class LegController

class LegController

Simple PD control on the leg.

Public Functions

inline LegController(std::shared_ptr<blmc_drivers::Leg> leg, std::shared_ptr<blmc_drivers::AnalogSensor> analog_sensor)

Construct a new LegController object.

Parameters:

• leg –

• analog_sensor –

inline ~LegController()

Destroy the LegController object.

inline void start_loop()

helper to strat the real time thread.

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.