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@98:25528494287d, 2015-10-22 (annotated)

Committer:
annesteenbeek
Date:
Thu Oct 22 10:06:46 2015 +0200
Revision:
98:25528494287d
Parent:
78:0cc7c64ba94c
Child:
99:7030e9790b1d
added EMG and implemented Servo

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 25:874675516927 8
annesteenbeek 25:874675516927 9
annesteenbeek 34:f315b2b38555 10 extern bool motorsEnable;
annesteenbeek 73:05cd0e692b74 11 extern bool safetyOn;
annesteenbeek 25:874675516927 12
annesteenbeek 25:874675516927 13 // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 62:6c566e6f9664 14 extern double motor1Pos;
annesteenbeek 62:6c566e6f9664 15 extern double motor2Pos;
annesteenbeek 25:874675516927 16
annesteenbeek 62:6c566e6f9664 17 extern double motor1SetSpeed;
annesteenbeek 62:6c566e6f9664 18 extern double motor2SetSpeed;
annesteenbeek 98:25528494287d 19 extern double servoSpeed;
annesteenbeek 25:874675516927 20
annesteenbeek 78:0cc7c64ba94c 21 // unscaled EMG velocity's
annesteenbeek 78:0cc7c64ba94c 22 extern double x_velocity;
annesteenbeek 78:0cc7c64ba94c 23 extern double y_velocity;
annesteenbeek 78:0cc7c64ba94c 24 extern double z_velocity;
annesteenbeek 78:0cc7c64ba94c 25
annesteenbeek 62:6c566e6f9664 26 extern double servoPos;
annesteenbeek 62:6c566e6f9664 27 extern double motorCall;
annesteenbeek 25:874675516927 28
annesteenbeek 25:874675516927 29 // Set PID values
annesteenbeek 52:2ac9dee099ce 30 extern PID motor2PID;
annesteenbeek 30:a20f16bf8dda 31
annesteenbeek 13:4837b36b9a68 32 void motorInit();
annesteenbeek 13:4837b36b9a68 33 void motorControl();
annesteenbeek 13:4837b36b9a68 34 void servoControl();
annesteenbeek 32:2006977785f5 35 void calibrateMotors();
annesteenbeek 34:f315b2b38555 36 void writeMotors();
annesteenbeek 76:0aa90e728e4a 37 void safety();
annesteenbeek 25:874675516927 38
annesteenbeek 13:4837b36b9a68 39 #endif