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:
2:b30a467e90d3
Parent:
0:009e84d7af32
Child:
4:5353c5d0d2ed
--- a/motor.h	Fri Oct 19 11:01:52 2018 +0000
+++ b/motor.h	Mon Oct 29 14:15:57 2018 +0000
@@ -30,11 +30,14 @@
     
     // For debugging purposes;
     Serial* pc;
+    bool serial_debugging;
     int printcount;
     float pid_period;
 public:
     // Initializes the motor with the two driver pins, and the two encoder pins.
     Motor(PinName pwm_pin, PinName dir_pin, PinName encoder_a, PinName encoder_b, Serial* pc);
+    // Initialize the motor without serial output.
+    Motor(PinName pwm_pin, PinName dir_pin, PinName encoder_a, PinName encoder_b);
     // 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);