Biorobotics
/
piano_robot
newest version,
move_motor.h@3:11c2175b4478, 2015-10-26 (annotated)
- Committer:
- roosbulthuis
- Date:
- Mon Oct 26 11:42:17 2015 +0000
- Revision:
- 3:11c2175b4478
- Parent:
- 0:fc6fa085d591
New file for filters without classes, check if input and output are correct. Should be pasted into main code.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
NickDGreg | 0:fc6fa085d591 | 1 | /* |
NickDGreg | 0:fc6fa085d591 | 2 | * move_motor.h |
NickDGreg | 0:fc6fa085d591 | 3 | * |
NickDGreg | 0:fc6fa085d591 | 4 | * Created on: Oct 20, 2015 |
NickDGreg | 0:fc6fa085d591 | 5 | * Author: User |
NickDGreg | 0:fc6fa085d591 | 6 | */ |
NickDGreg | 0:fc6fa085d591 | 7 | |
NickDGreg | 0:fc6fa085d591 | 8 | #ifndef MOVE_MOTOR_H_ |
NickDGreg | 0:fc6fa085d591 | 9 | #define MOVE_MOTOR_H_ |
NickDGreg | 0:fc6fa085d591 | 10 | |
NickDGreg | 0:fc6fa085d591 | 11 | #include "QEI.h" |
NickDGreg | 0:fc6fa085d591 | 12 | #include "mbed.h" |
NickDGreg | 0:fc6fa085d591 | 13 | |
NickDGreg | 0:fc6fa085d591 | 14 | Ticker aansturen; |
NickDGreg | 0:fc6fa085d591 | 15 | |
NickDGreg | 0:fc6fa085d591 | 16 | volatile bool flag_motor; |
NickDGreg | 0:fc6fa085d591 | 17 | /* |
NickDGreg | 0:fc6fa085d591 | 18 | const double pulses_per_revolution; |
NickDGreg | 0:fc6fa085d591 | 19 | const double timestep; |
NickDGreg | 0:fc6fa085d591 | 20 | const int cw; |
NickDGreg | 0:fc6fa085d591 | 21 | const int ccw; |
NickDGreg | 0:fc6fa085d591 | 22 | */ |
NickDGreg | 0:fc6fa085d591 | 23 | |
NickDGreg | 0:fc6fa085d591 | 24 | void Go_flag_motor(); |
NickDGreg | 0:fc6fa085d591 | 25 | double PI(double error, const double Kp, const double Ki, double Ts, double &e_int); |
NickDGreg | 0:fc6fa085d591 | 26 | void motor_Controller(DigitalOut &directionPin, PwmOut &pwm, double position, double setpoint, double Kp, double Ki, double error_rotation, double error_pulses); |
NickDGreg | 0:fc6fa085d591 | 27 | void move_motor(DigitalOut &directionPin, PwmOut &pwm, double position, double setpoint, double Kp, double Ki); |
NickDGreg | 0:fc6fa085d591 | 28 | |
NickDGreg | 0:fc6fa085d591 | 29 | #endif /* MOVE_MOTOR_H_ */ |
NickDGreg | 0:fc6fa085d591 | 30 |