Class Controller¶
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class Controller¶
This is a simple PD control on one motor and one slider.
Public Functions
Construct a new Controller object.
- Parameters
motor –
analog_sensor –
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inline void start_loop()¶
main control loop
Public Static Functions
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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.
Private Functions
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inline void loop()¶
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.
Private Members
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std::shared_ptr<blmc_drivers::Motor> motor_¶
one motor.
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std::shared_ptr<blmc_drivers::AnalogSensor> analog_sensor_¶
one slider.
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real_time_tools::RealTimeThread rt_thread_¶
the realt time thread object.