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@52:2ac9dee099ce, 2015-10-09 (annotated)

Committer:
annesteenbeek
Date:
Fri Oct 09 13:42:41 2015 +0200
Revision:
52:2ac9dee099ce
Parent:
50:b0cf07ca53cf
Child:
62:6c566e6f9664
changed motor parameters to more constant names, implemented personal PID

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 25:874675516927 11
annesteenbeek 25:874675516927 12 // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 25:874675516927 13 extern float motor1Pos;
annesteenbeek 25:874675516927 14 extern float motor2Pos;
annesteenbeek 25:874675516927 15
annesteenbeek 52:2ac9dee099ce 16 extern float motor1SetSpeed;
annesteenbeek 52:2ac9dee099ce 17 extern float motor2SetSpeed;
annesteenbeek 25:874675516927 18
annesteenbeek 32:2006977785f5 19 extern float servoPos;
annesteenbeek 50:b0cf07ca53cf 20 extern float motorCall;
annesteenbeek 25:874675516927 21
annesteenbeek 25:874675516927 22 // Set PID values
annesteenbeek 52:2ac9dee099ce 23 extern PID motor2PID;
annesteenbeek 30:a20f16bf8dda 24
annesteenbeek 13:4837b36b9a68 25 void motorInit();
annesteenbeek 13:4837b36b9a68 26 void motorControl();
annesteenbeek 13:4837b36b9a68 27 void servoControl();
annesteenbeek 32:2006977785f5 28 void calibrateMotors();
annesteenbeek 34:f315b2b38555 29 void writeMotors();
annesteenbeek 25:874675516927 30
annesteenbeek 13:4837b36b9a68 31 #endif