Biorobotics 7 / BioroboticsMotorControl

PID motor controll for the biorobotics project.

Dependencies:   FastPWM QEI

Dependents:   PID_example Motor_calibration Demo_mode Demo_mode ... more

Diff: motor.h

Revision:
5:5537072b0e2e
Parent:
4:5353c5d0d2ed
Child:
7:eb8787e7a5f5
--- a/motor.h	Wed Oct 31 06:13:15 2018 +0000
+++ b/motor.h	Wed Oct 31 06:41:39 2018 +0000
@@ -41,12 +41,15 @@
     // Set the angle the motor needs to rotate to. In radians.
     void set_target_angle(double angle);
     void set_pid_k_values(double k_p, double k_i, double k_d);
+    
     // Starts the motor controller with the specified update period.
     void start(float period);
-    
     // Stops the motor immediately.
     void stop();
     
+    // Makes the current angle the new 0 point.
+    void set_current_angle_as_zero();
+    
     // Returns the current angle of the motor.
     double get_current_angle();