PID motor controll for the biorobotics project.
Dependents: PID_example Motor_calibration Demo_mode Demo_mode ... more
Diff: motor.h
- Revision:
- 4:5353c5d0d2ed
- Parent:
- 2:b30a467e90d3
- Child:
- 5:5537072b0e2e
--- a/motor.h Mon Oct 29 15:27:56 2018 +0000 +++ b/motor.h Wed Oct 31 06:13:15 2018 +0000 @@ -7,8 +7,6 @@ #include "pid.h" -const float PI = 3.14159265359; - // Amount of motor encoder pulses per rotation. When using X4 encoding. const int PULSES_PER_ROTATION = 6533; @@ -19,6 +17,8 @@ /// Rotates a motor to a given angle using PID control. /// Sets the pwm frequency to 60 HZ. private: + const float PI = 3.14159265359; + Ticker motor_ticker; FastPWM pwm_out; @@ -44,6 +44,9 @@ // Starts the motor controller with the specified update period. void start(float period); + // Stops the motor immediately. + void stop(); + // Returns the current angle of the motor. double get_current_angle();