pd_control.hpp

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#include "blmc_drivers/devices/motor.hpp"
#include "blmc_drivers/devices/analog_sensor.hpp"

namespace blmc_drivers{

typedef std::shared_ptr<blmc_drivers::SafeMotor> SafeMotor_ptr;
typedef std::shared_ptr<blmc_drivers::AnalogSensor> Slider_ptr;
typedef std::pair<SafeMotor_ptr, Slider_ptr> PairMotorSlider;

class PDController
{
public:
  PDController(std::vector<PairMotorSlider> motor_slider_pairs):
    motor_slider_pairs_(motor_slider_pairs)
  {
    stop_loop=false;
  }

  ~PDController()
  {
    stop_loop=true;
    rt_thread_.join();
  }

  void start_loop()
  {
    rt_thread_.create_realtime_thread(&PDController::loop, this);
  }

private:

  std::vector<PairMotorSlider> motor_slider_pairs_;
  real_time_tools::RealTimeThread rt_thread_;

  static THREAD_FUNCTION_RETURN_TYPE loop(void* instance_pointer)
  {
    ((PDController*)(instance_pointer))->loop();
    return THREAD_FUNCTION_RETURN_VALUE;
  }

  void loop();

  bool stop_loop;

}; // end class PDController definition

}// namespace blmc_drivers