#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 */