Biorobotics / Mbed 2 deprecated Controllerfunction

movemotor function. still to finish input variables and how to pass PWM and Direction pin and QEI

Dependencies:   QEI mbed

movemotor.h@0:7098cdb29180, 2015-10-19 (annotated)

Committer:
roosbulthuis
Date:
Mon Oct 19 13:43:58 2015 +0000
Revision:
0:7098cdb29180
function for motor control we still need values for inputs and we dont know how to refer to PWM and directionPin. And how can we declare QEI wheel differently for two motors?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
roosbulthuis 0:7098cdb29180 1 #ifndef MOVEMOTOR_H_
roosbulthuis 0:7098cdb29180 2 #define MOVEMOTOR_H_
roosbulthuis 0:7098cdb29180 3
roosbulthuis 0:7098cdb29180 4 void Go_flag_motor();
roosbulthuis 0:7098cdb29180 5 double PI(double error, const double Kp, const double Ki, double Ts, double &e_int);
roosbulthuis 0:7098cdb29180 6 void motor1_Controller();
roosbulthuis 0:7098cdb29180 7 void move_motor(string state);
roosbulthuis 0:7098cdb29180 8
roosbulthuis 0:7098cdb29180 9 Ticker aansturen;
roosbulthuis 0:7098cdb29180 10 volatile bool flag_motor;
roosbulthuis 0:7098cdb29180 11 QEI wheel (PTC10, PTC11, NC, 624); //how to call this?
roosbulthuis 0:7098cdb29180 12 const double pulses_per_revolution;
roosbulthuis 0:7098cdb29180 13 const double M1_timestep;
roosbulthuis 0:7098cdb29180 14 const int cw;
roosbulthuis 0:7098cdb29180 15 const int ccw;
roosbulthuis 0:7098cdb29180 16
roosbulthuis 0:7098cdb29180 17 #endif /* MOVEMOTOR_H_ */