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

Public Member Functions
	Controller (std::shared_ptr< blmc_drivers::Motor > motor, std::shared_ptr< blmc_drivers::AnalogSensor > analog_sensor)
	Construct a new Controller object. More...

void	start_loop ()
	main control loop

Static Public Member Functions
static 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.

Private Member Functions
void	loop ()
	this is a simple control loop which runs at a kilohertz. More...

Private Attributes
std::shared_ptr< blmc_drivers::Motor >	motor_
	one motor.

std::shared_ptr< blmc_drivers::AnalogSensor >	analog_sensor_
	one slider.

real_time_tools::RealTimeThread	rt_thread_
	the realt time thread object.

Detailed Description

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

Constructor & Destructor Documentation

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

inline

Construct a new Controller object.

Parameters

motor
analog_sensor

void Controller::loop ( )

inlineprivate

this is a simple control loop which runs at a kilohertz.

it reads the measurement from the analog sensor, in this case the slider. then it scales it and sends it as the current target to the motor.

The documentation for this class was generated from the following file: