ControlSystem.hpp

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#ifndef MYCONTROLSYSTEM_HPP_
#define MYCONTROLSYSTEM_HPP_

#include <eeros/core/Runnable.hpp>
#include <eeros/control/Sum.hpp>
#include <eeros/control/D.hpp>
#include <eeros/control/Gain.hpp>
#include <eeros/control/Switch.hpp>
#include <eeros/control/Constant.hpp>
#include <eeros/control/PeripheralInput.hpp>
#include <eeros/control/PeripheralOutput.hpp>
#include <eeros/control/Mux.hpp>
#include <eeros/control/DeMux.hpp>
#include <eeros/core/Executor.hpp>

class ControlSystem : public eeros::Runnable {

public:
    void run();
    
    static ControlSystem& instance();
    
    void start();
    void stop();
    
//  eeros::control::Constant<> setpoint;
//  eeros::control::Constant<> setpointV;
    eeros::control::PeripheralInput<> enc;
//  eeros::control::D<> diff1;
//  eeros::control::Sum<2> sum1;
//  eeros::control::Gain<> posController;
//  eeros::control::D<> diff2;
//  eeros::control::Sum<3> sum2;
//  eeros::control::Gain<> speedController;
//  eeros::control::Gain<> inertia;
//  eeros::control::Gain<> invMotConst;
//  eeros::control::PeripheralOutput<> dac;
    
private:
    ControlSystem();
    ControlSystem(const ControlSystem&);
    ControlSystem& operator=(const ControlSystem&);
    
    eeros::Executor executor;
};

#endif // MYCONTROLSYSTEM_HPP_