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diff --git a/digital/avr/modules/motor/control_system/control_system.h b/digital/avr/modules/motor/control_system/control_system.h
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+++ b/digital/avr/modules/motor/control_system/control_system.h
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+#ifndef control_system_h
+#define control_system_h
+/* control_system.h */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#include "modules/motor/control_state/control_state.h"
+#include "modules/motor/encoder/encoder.h"
+#include "modules/motor/speed_control/speed_control.h"
+#include "modules/motor/pos_control/pos_control.h"
+#include "modules/motor/blocking_detection/blocking_detection.h"
+#include "modules/motor/output/output.h"
+
+/** Single motor control system. */
+struct control_system_single_t
+{
+ control_state_t state;
+ encoder_t *encoder;
+ speed_control_t speed;
+ pos_control_t pos;
+ blocking_detection_t blocking_detection;
+ output_t *output;
+};
+typedef struct control_system_single_t control_system_single_t;
+
+/** Polar control system. */
+struct control_system_polar_t
+{
+ control_state_t state;
+ encoder_t *encoder_left;
+ encoder_t *encoder_right;
+ speed_control_t speed_theta;
+ speed_control_t speed_alpha;
+ pos_control_t pos_theta;
+ pos_control_t pos_alpha;
+ blocking_detection_t blocking_detection_theta;
+ blocking_detection_t blocking_detection_alpha;
+ output_t *output_left;
+ output_t *output_right;
+};
+typedef struct control_system_polar_t control_system_polar_t;
+
+/** Initialise single motor control system components. */
+void
+control_system_single_init (control_system_single_t *cs);
+
+/** Initialise polar control system components. */
+void
+control_system_polar_init (control_system_polar_t *cs);
+
+/** Prepare single motor control system update (update all non urgent
+ * modules). To be called before encoder is updated. */
+void
+control_system_single_update_prepare (control_system_single_t *cs);
+
+/** Prepare polar control system update (update all non urgent modules). To
+ * be called before encoders are updated. */
+void
+control_system_polar_update_prepare (control_system_polar_t *cs);
+
+/** Update single motor control system components (however do not update
+ * encoder, neither output). To be called after encoder is updated. */
+void
+control_system_single_update (control_system_single_t *cs);
+
+/** Update polar control system components (however do not update encoder,
+ * neither output). To be called after encoders are updated. */
+void
+control_system_polar_update (control_system_polar_t *cs);
+
+#endif /* control_system_h */