Biorobotics
/
piano_robot
newest version,
move_motor.h
- Committer:
- NickDGreg
- Date:
- 2015-10-23
- Revision:
- 0:fc6fa085d591
File content as of revision 0:fc6fa085d591:
/* * move_motor.h * * Created on: Oct 20, 2015 * Author: User */ #ifndef MOVE_MOTOR_H_ #define MOVE_MOTOR_H_ #include "QEI.h" #include "mbed.h" Ticker aansturen; volatile bool flag_motor; /* const double pulses_per_revolution; const double timestep; const int cw; const int ccw; */ void Go_flag_motor(); double PI(double error, const double Kp, const double Ki, double Ts, double &e_int); void motor_Controller(DigitalOut &directionPin, PwmOut &pwm, double position, double setpoint, double Kp, double Ki, double error_rotation, double error_pulses); void move_motor(DigitalOut &directionPin, PwmOut &pwm, double position, double setpoint, double Kp, double Ki); #endif /* MOVE_MOTOR_H_ */