Simple PD control on the leg. More...

Public Member Functions
	LegController (std::shared_ptr< blmc_drivers::Leg > leg, std::shared_ptr< blmc_drivers::AnalogSensor > analog_sensor)
	Construct a new LegController object. More...

	~LegController ()
	Destroy the LegController object.

void	start_loop ()
	helper to strat the real time thread.

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::Leg >	leg_
	is the leg to control

std::shared_ptr< blmc_drivers::AnalogSensor >	analog_sensor_
	is the list of sliders

real_time_tools::RealTimeThread	rt_thread_
	is the real time thread object.

bool	stop_loop_
	manages the shutdown of the controller

Detailed Description

Simple PD control on the leg.

Constructor & Destructor Documentation

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

inline

Construct a new LegController object.

Parameters

leg
analog_sensor

void LegController::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: