EEROS  0.4.1.0
API for the EEROS Real-Time Robotics Framework
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ControlSystem.hpp
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1 #ifndef MYCONTROLSYSTEM_HPP_
2 #define MYCONTROLSYSTEM_HPP_
3 
5 #include <eeros/control/Sum.hpp>
6 #include <eeros/control/D.hpp>
7 #include <eeros/control/Gain.hpp>
12 #include <eeros/control/Mux.hpp>
13 #include <eeros/control/DeMux.hpp>
14 #include <eeros/core/Executor.hpp>
15 
17 
18 public:
19  void run();
20 
21  static ControlSystem& instance();
22 
23  void start();
24  void stop();
25 
26 // eeros::control::Constant<> setpoint;
27 // eeros::control::Constant<> setpointV;
29 // eeros::control::D<> diff1;
30 // eeros::control::Sum<2> sum1;
31 // eeros::control::Gain<> posController;
32 // eeros::control::D<> diff2;
33 // eeros::control::Sum<3> sum2;
34 // eeros::control::Gain<> speedController;
35 // eeros::control::Gain<> inertia;
36 // eeros::control::Gain<> invMotConst;
37 // eeros::control::PeripheralOutput<> dac;
38 
39 private:
40  ControlSystem();
42  ControlSystem& operator=(const ControlSystem&);
43 
44  eeros::Executor executor;
45 };
46 
47 #endif // MYCONTROLSYSTEM_HPP_
Definition: Runnable.hpp:6
eeros::control::PeripheralInput enc
Definition: ControlSystem.hpp:28
static ControlSystem & instance()
Definition: ControlSystem.cpp:80
void run()
Definition: ControlSystem.cpp:57
Definition: ControlSystem.hpp:16
void stop()
Definition: ControlSystem.cpp:76
Definition: PeripheralInput.hpp:13
void start()
Definition: ControlSystem.cpp:72