Diff: actuators.cpp

Revision:

0:525558a26464

Child:

1:80f098c05d4b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actuators.cpp	Mon Sep 28 13:54:34 2015 +0000
@@ -0,0 +1,37 @@
+// functions for controlling the motors
+
+void motorInit(){
+    
+    }
+
+
+void motorControl(){
+    if(motorEnable == HIGH){  // only run motors if switch is enabled
+    // get encoder positions
+        // check if motor's are within rotational boundarys
+    // calculate  encoder speeds
+    // translate to x/y speed
+    // compute new PID parameters using setpoint speeds and x/y speeds
+    // write new values to motor's
+        
+    }else{
+        // write 0 to motors
+    }
+}
+
+void servoControl(){
+    // use potMeter Value to set servo angle
+    // (optionaly calculate xy position to keep balloon in position)
+        // calculate z position using angle
+        // calculate x y translation of endpoint
+        // find new x and y speed.
+    
+    }
+    
+void pumpControl(){
+    if (pumpButton == HIGH){
+        // write pumpPin High
+        }else{
+        // write pumpPin Low    
+        }
+    }
\ No newline at end of file