MyControlSystem.hpp

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#ifndef MYCONTROLSYSTEM_HPP_
#define MYCONTROLSYSTEM_HPP_

#include <eeros/control/Sum.hpp>
#include <eeros/control/D.hpp>
#include <eeros/control/Gain.hpp>
#include <eeros/control/Constant.hpp>
#include <eeros/control/PeripheralInput.hpp>
#include <eeros/control/PeripheralOutput.hpp>
#include <eeros/control/TimeDomain.hpp>

class MyControlSystem {

public:
    MyControlSystem(double ts);
    
    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:
    eeros::control::TimeDomain timedomain;
};

#endif // MYCONTROLSYSTEM_HPP_