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@30:a20f16bf8dda, 2015-10-06 (annotated)

Committer:
annesteenbeek
Date:
Tue Oct 06 21:06:20 2015 +0000
Revision:
30:a20f16bf8dda
Parent:
29:e4f3455aaa0b
Child:
31:8fbee6c92753
divided functions with Tickers and working 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 25:874675516927 10 extern bool motorEnable;
annesteenbeek 25:874675516927 11
annesteenbeek 25:874675516927 12 // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 25:874675516927 13 extern bool direction1;
annesteenbeek 25:874675516927 14 extern bool direction2;
annesteenbeek 25:874675516927 15
annesteenbeek 25:874675516927 16 extern float motor1Pos;
annesteenbeek 25:874675516927 17 extern float motor2Pos;
annesteenbeek 25:874675516927 18
annesteenbeek 25:874675516927 19 extern float motorSpeed1;
annesteenbeek 25:874675516927 20 extern float motorSpeed2;
annesteenbeek 25:874675516927 21
annesteenbeek 25:874675516927 22 extern float motorSetSpeed1;
annesteenbeek 25:874675516927 23 extern float motorSetSpeed2;
annesteenbeek 25:874675516927 24
annesteenbeek 25:874675516927 25
annesteenbeek 25:874675516927 26 extern float motorPWM1;
annesteenbeek 25:874675516927 27 extern float motorPWM2;
annesteenbeek 25:874675516927 28
annesteenbeek 25:874675516927 29 // Set PID values
annesteenbeek 25:874675516927 30 extern float Kp1;
annesteenbeek 25:874675516927 31 extern float Ki1;
annesteenbeek 25:874675516927 32 extern float Kd1;
annesteenbeek 25:874675516927 33
annesteenbeek 25:874675516927 34 extern float Kp2;
annesteenbeek 25:874675516927 35 extern float Ki2;
annesteenbeek 25:874675516927 36 extern float Kd2;
annesteenbeek 25:874675516927 37
annesteenbeek 25:874675516927 38 extern float PIDinterval;
annesteenbeek 25:874675516927 39
annesteenbeek 30:a20f16bf8dda 40 extern PID PIDmotor2;
annesteenbeek 30:a20f16bf8dda 41
annesteenbeek 13:4837b36b9a68 42 void motorInit();
annesteenbeek 13:4837b36b9a68 43 void motorControl();
annesteenbeek 13:4837b36b9a68 44 void servoControl();
annesteenbeek 13:4837b36b9a68 45
annesteenbeek 25:874675516927 46
annesteenbeek 13:4837b36b9a68 47 #endif