move_motor.h

00001 /*
00002  * move_motor.h
00003  *
00004  *  Created on: Oct 20, 2015
00005  *      Author: User
00006  */
00007 
00008 #ifndef MOVE_MOTOR_H_
00009 #define MOVE_MOTOR_H_
00010 
00011 #include "QEI.h"
00012 #include "mbed.h"
00013 
00014 Ticker aansturen;
00015 
00016 volatile bool flag_motor;
00017 /*
00018 const double pulses_per_revolution;
00019 const double timestep;
00020 const int cw;
00021 const int ccw;
00022 */
00023 
00024 void Go_flag_motor();
00025 double PI(double error, const double Kp, const double Ki, double Ts, double &e_int);
00026 void motor_Controller(DigitalOut &directionPin, PwmOut &pwm, double position, double setpoint, double Kp, double Ki, double error_rotation, double error_pulses);
00027 void move_motor(DigitalOut &directionPin, PwmOut &pwm, double position, double setpoint, double Kp, double Ki);
00028 
00029 #endif /* MOVE_MOTOR_H_ */
00030