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

debug.h@121:6d8f1bdcda05, 2015-10-28 (annotated)

Committer:
annesteenbeek
Date:
Wed Oct 28 13:38:36 2015 +0100
Revision:
121:6d8f1bdcda05
Parent:
110:a6439e13be8b
Child:
122:1a5df0765790
Child:
124:f67ce69557db
set debugging for kinematics

Who changed what in which revision?

UserRevisionLine numberNew 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 36:6f9670eb9168 12 extern bool motorsEnable;
annesteenbeek 36:6f9670eb9168 13 extern int actuatorState;
annesteenbeek 62:6c566e6f9664 14 extern double prevTime;
annesteenbeek 110:a6439e13be8b 15 extern double servoSpeed;
annesteenbeek 27:5eb5ec295ab2 16
annesteenbeek 121:6d8f1bdcda05 17 extern double Xpos;
annesteenbeek 121:6d8f1bdcda05 18 extern double Ypos;
annesteenbeek 121:6d8f1bdcda05 19
annesteenbeek 52:2ac9dee099ce 20 extern PID motor2PID;
annesteenbeek 41:d5c3055a7bc7 21 extern DigitalIn button2;
annesteenbeek 42:d36d216457c4 22 extern AnalogIn pot2;
annesteenbeek 42:d36d216457c4 23 extern AnalogIn pot1;
annesteenbeek 62:6c566e6f9664 24 extern double Kp, Ki, Kd;
annesteenbeek 59:fe00be2cf8fd 25
annesteenbeek 100:222c27f55b85 26 extern double emg_filt_val1;
annesteenbeek 78:0cc7c64ba94c 27 extern double emg_filt_val2;
annesteenbeek 78:0cc7c64ba94c 28 extern double x_velocity;
annesteenbeek 78:0cc7c64ba94c 29 extern double y_velocity;
annesteenbeek 100:222c27f55b85 30 extern double z_velocity;
annesteenbeek 78:0cc7c64ba94c 31 extern bool pump;
annesteenbeek 78:0cc7c64ba94c 32 extern int DOF;
annesteenbeek 100:222c27f55b85 33 extern bool mode;
annesteenbeek 78:0cc7c64ba94c 34
annesteenbeek 78:0cc7c64ba94c 35
annesteenbeek 14:0c0d1bfd94ea 36 void debugProcess();
annesteenbeek 14:0c0d1bfd94ea 37
annesteenbeek 14:0c0d1bfd94ea 38 #endif