BE@R lab / motion_control

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Dependencies:   motor_relay

Dependents:   dog_V3_3_testmotor

Diff: motion_control.h

Revision:
5:91d905f8bef7
Parent:
4:6509fec6a6fb
Child:
6:41d7cf11fdb1
--- a/motion_control.h	Sat Jul 18 05:52:56 2015 +0000
+++ b/motion_control.h	Sun Jul 19 17:38:21 2015 +0000
@@ -12,45 +12,46 @@
     int limit_motor(uint8_t dirction);
     int8_t position_control(uint16_t target);
     void calibration();
-    
+
     int GetLimitUp();
     int GetLimitDown();
-    
+
     void SetMargin(int16_t data);
     int16_t GetMargin();
-    
+
     uint16_t GetMaxPosition();
     uint16_t GetMinPosition();
-    
+    void SetMaxPosition(uint16_t value);
+    void SetMinPosition(uint16_t value);
 
     uint16_t GetAnalog();
     uint16_t GetPosition();
-    
+
     void stop();
 
 private:
 
     uint16_t Scale(uint16_t data);
-    
+
     MOTOR_RELAY motor;
 
     DigitalIn _limit_up;
     DigitalIn _limit_down;
     AnalogIn _position;
-    
+
     int16_t error;
     int16_t MARGIN;
-    
+
     uint16_t MAX_POSITION;
     uint16_t MIN_POSITION;
-    
+
     const static uint16_t scale = 64;
-    
-    
-    float Kp;
-    float Ki;
-    float Kd;
-    float margin_pid;
+    const static uint16_t LOOP = 100;
+
+    //float Kp;
+    //float Ki;
+    //float Kd;
+    //float margin_pid;
 
 };