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control_system

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control_system [2019/12/01 07:48] – [Outputs] grafcontrol_system [2019/12/01 07:48] – [Inputs] graf
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 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 ''signalId'' from the HAL configuration file as parameter, e.g. 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 ''signalId'' from the HAL configuration file as parameter, e.g.
 <code c> <code c>
-eeros::control::PeripheralInput<double> encoder1("enc1");+eeros::control::PeripheralInput<double> enc1("enc1");
 </code> </code>
 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 ''AxisVector''. ''AxisVector'' is defined as  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 ''AxisVector''. ''AxisVector'' is defined as 
control_system.txt · Last modified: 2023/05/11 17:13 by ursgraf