Roman Krejci / Mbed 2 deprecated DP_28_4_2015

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Show/hide line numbers control.h Source File

control.h

00001 #ifndef _CONTROL_H
00002 #define _CONTROL_H
00003 
00004 #include "mbed.h"
00005 class cControl {
00006     public:
00007         
00008         /* Constructor */
00009         cControl();
00010         
00011         /* This method compute required current and save it to shared resource */        
00012         void setCurrent();
00013     
00014     private: 
00015         /* State feedback constants */
00016         float K[4];
00017         
00018         float q[3];
00019         float e[3];
00020         float u_old;
00021 
00022 };
00023 #endif
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