This is a basic PD controller to be used in the demos of this package. More...

Public Member Functions
	PDController (std::vector< PairMotorSlider > motor_slider_pairs)
	Construct a new PDController object. More...

	~PDController ()
	Destroy the PDController object.

void	start_loop ()
	This method is a helper to start the thread loop.

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

Static Private 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 Attributes
std::vector< PairMotorSlider >	motor_slider_pairs_
	This is a pair of motor and sliders so that we associate one with the other.

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

bool	stop_loop
	managing the stopping of the loop

Detailed Description

This is a basic PD controller to be used in the demos of this package.

Constructor & Destructor Documentation

blmc_drivers::PDController::PDController ( std::vector< PairMotorSlider > motor_slider_pairs )

inline

Construct a new PDController object.

Parameters

motor_slider_pairs

void blmc_drivers::PDController::loop ( )

private

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 files: