control_system
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control_system [2019/12/01 07:46] – [Outputs] graf | control_system [2019/12/01 07:48] – [Inputs] graf | ||
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==== Inputs ==== | ==== Inputs ==== | ||
- | Lets start with the blue box at the bottom center of the diagram. This box represent the motors including the gears and the encoders. The encoders are defined as //Peripheral Input//. This //Peripheral Inputs// are described in the HAL configuration file, see [[hal|]]. To initialize the encoder inputs, you have to call the constructor of the //Peripheral Input// and add the respective | + | Lets start with the blue box at the bottom center of the diagram. This box represent the motors including the gears and the encoders. The encoders are defined as '' |
<code c> | <code c> | ||
- | eeros:: | + | eeros:: |
</ | </ | ||
- | If the HAL is configured correctly, we get the current position in radian of each encoder. Next, the //Mux// collects the three encoder values and puts them into an '' | + | If the HAL is configured correctly, we get the current position in radian of each encoder. Next, the '' |
<code c> | <code c> | ||
using AxisVector = eeros:: | using AxisVector = eeros:: | ||
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==== Outputs ==== | ==== Outputs ==== | ||
The drive signals to the motor are of type '' | The drive signals to the motor are of type '' | ||
+ | <code c> | ||
+ | eeros:: | ||
+ | </ |
control_system.txt · Last modified: 2023/05/11 17:13 by ursgraf