Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

actuators.h@106:1773bf7b95c5, 2015-10-26 (annotated)

Committer:
annesteenbeek
Date:
Mon Oct 26 12:46:29 2015 +0100
Revision:
106:1773bf7b95c5
Parent:
99:7030e9790b1d
Child:
110:a6439e13be8b
before implementation of servo without PWM

Who changed what in which revision?

UserRevisionLine numberNew contents of line
annesteenbeek 13:4837b36b9a68 1 #ifndef ACTUATORS_H
annesteenbeek 13:4837b36b9a68 2 #define ACTUATORS_H
annesteenbeek 13:4837b36b9a68 3
annesteenbeek 25:874675516927 4 #include "PID.h"
annesteenbeek 25:874675516927 5 #include "mbed.h"
annesteenbeek 25:874675516927 6 #include "config.h"
annesteenbeek 25:874675516927 7 #include "encoder.h"
annesteenbeek 99:7030e9790b1d 8 #include "buttons.h"
annesteenbeek 25:874675516927 9
annesteenbeek 99:7030e9790b1d 10 extern DigitalOut redLed;
annesteenbeek 99:7030e9790b1d 11 extern DigitalOut greenLed;
annesteenbeek 99:7030e9790b1d 12 extern DigitalOut blueLed;
annesteenbeek 25:874675516927 13
annesteenbeek 34:f315b2b38555 14 extern bool motorsEnable;
annesteenbeek 73:05cd0e692b74 15 extern bool safetyOn;
annesteenbeek 25:874675516927 16
annesteenbeek 25:874675516927 17 // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 62:6c566e6f9664 18 extern double motor1Pos;
annesteenbeek 62:6c566e6f9664 19 extern double motor2Pos;
annesteenbeek 25:874675516927 20
annesteenbeek 62:6c566e6f9664 21 extern double motor1SetSpeed;
annesteenbeek 62:6c566e6f9664 22 extern double motor2SetSpeed;
annesteenbeek 98:25528494287d 23 extern double servoSpeed;
annesteenbeek 25:874675516927 24
annesteenbeek 78:0cc7c64ba94c 25 // unscaled EMG velocity's
annesteenbeek 78:0cc7c64ba94c 26 extern double x_velocity;
annesteenbeek 78:0cc7c64ba94c 27 extern double y_velocity;
annesteenbeek 78:0cc7c64ba94c 28 extern double z_velocity;
annesteenbeek 78:0cc7c64ba94c 29
annesteenbeek 62:6c566e6f9664 30 extern double servoPos;
annesteenbeek 62:6c566e6f9664 31 extern double motorCall;
annesteenbeek 25:874675516927 32
annesteenbeek 25:874675516927 33 // Set PID values
annesteenbeek 52:2ac9dee099ce 34 extern PID motor2PID;
annesteenbeek 30:a20f16bf8dda 35
annesteenbeek 13:4837b36b9a68 36 void motorInit();
annesteenbeek 13:4837b36b9a68 37 void motorControl();
annesteenbeek 13:4837b36b9a68 38 void servoControl();
annesteenbeek 106:1773bf7b95c5 39 bool calibrateMotors();
annesteenbeek 34:f315b2b38555 40 void writeMotors();
annesteenbeek 76:0aa90e728e4a 41 void safety();
annesteenbeek 25:874675516927 42
annesteenbeek 13:4837b36b9a68 43 #endif