Biorobotics / Mbed 2 deprecated piano_robot

newest version,

Dependencies:   QEI mbed

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_ */