![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
debug.h@103:4a37d19e8fcc, 2015-10-22 (annotated)
- Committer:
- MartijnGJ
- Date:
- Thu Oct 22 14:26:08 2015 +0000
- Revision:
- 103:4a37d19e8fcc
- Parent:
- 101:b821e89fc108
Changed speeds
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
annesteenbeek | 14:0c0d1bfd94ea | 1 | #ifndef DEBUG_H |
annesteenbeek | 14:0c0d1bfd94ea | 2 | #define DEBUG_H |
annesteenbeek | 14:0c0d1bfd94ea | 3 | |
annesteenbeek | 30:a20f16bf8dda | 4 | #include "PID.h" |
annesteenbeek | 49:b58958e6cacd | 5 | #include "mbed.h" |
annesteenbeek | 78:0cc7c64ba94c | 6 | #include "emg.h" |
annesteenbeek | 78:0cc7c64ba94c | 7 | |
annesteenbeek | 62:6c566e6f9664 | 8 | extern double motor2SetSpeed; |
annesteenbeek | 62:6c566e6f9664 | 9 | extern double motor2Speed; |
annesteenbeek | 62:6c566e6f9664 | 10 | extern double motor2Pos; |
annesteenbeek | 62:6c566e6f9664 | 11 | extern double motor2PWM; |
annesteenbeek | 101:b821e89fc108 | 12 | extern double motor1SetSpeed; |
annesteenbeek | 101:b821e89fc108 | 13 | extern double motor1Speed; |
annesteenbeek | 101:b821e89fc108 | 14 | extern double motor1Pos; |
MartijnGJ | 103:4a37d19e8fcc | 15 | extern double servoSpeed; |
MartijnGJ | 103:4a37d19e8fcc | 16 | extern double servoPulsewidth; |
annesteenbeek | 101:b821e89fc108 | 17 | extern double motor1PWM; |
annesteenbeek | 36:6f9670eb9168 | 18 | extern bool motorsEnable; |
annesteenbeek | 101:b821e89fc108 | 19 | |
annesteenbeek | 36:6f9670eb9168 | 20 | extern int actuatorState; |
annesteenbeek | 62:6c566e6f9664 | 21 | extern double prevTime; |
annesteenbeek | 27:5eb5ec295ab2 | 22 | |
annesteenbeek | 52:2ac9dee099ce | 23 | extern PID motor2PID; |
annesteenbeek | 41:d5c3055a7bc7 | 24 | extern DigitalIn button2; |
annesteenbeek | 42:d36d216457c4 | 25 | extern AnalogIn pot2; |
annesteenbeek | 42:d36d216457c4 | 26 | extern AnalogIn pot1; |
annesteenbeek | 62:6c566e6f9664 | 27 | extern double Kp, Ki, Kd; |
annesteenbeek | 59:fe00be2cf8fd | 28 | |
annesteenbeek | 100:222c27f55b85 | 29 | extern double emg_filt_val1; |
annesteenbeek | 78:0cc7c64ba94c | 30 | extern double emg_filt_val2; |
annesteenbeek | 78:0cc7c64ba94c | 31 | extern double x_velocity; |
annesteenbeek | 78:0cc7c64ba94c | 32 | extern double y_velocity; |
annesteenbeek | 100:222c27f55b85 | 33 | extern double z_velocity; |
annesteenbeek | 78:0cc7c64ba94c | 34 | extern bool pump; |
annesteenbeek | 78:0cc7c64ba94c | 35 | extern int DOF; |
annesteenbeek | 100:222c27f55b85 | 36 | extern bool mode; |
MartijnGJ | 103:4a37d19e8fcc | 37 | extern double servo_pos; |
annesteenbeek | 78:0cc7c64ba94c | 38 | |
annesteenbeek | 14:0c0d1bfd94ea | 39 | void debugProcess(); |
annesteenbeek | 14:0c0d1bfd94ea | 40 | |
annesteenbeek | 14:0c0d1bfd94ea | 41 | #endif |