Diff: actuators.h

Revision:

25:874675516927

Parent:

13:4837b36b9a68

Child:

26:0a9e4147a31a

--- a/actuators.h	Mon Oct 05 21:27:52 2015 +0200
+++ b/actuators.h	Tue Oct 06 14:24:40 2015 +0000
@@ -1,9 +1,47 @@
 #ifndef ACTUATORS_H
 #define ACTUATORS_H
 
+#include "PID.h"
+#include "mbed.h"
+#include "config.h"
+#include "encoder.h"
+
+
+extern bool motorEnable;
+
+// CCW is false(positive rotation), CW is true (neg rotation)
+extern bool direction1; 
+extern bool direction2;
+
+extern float motor1Pos;
+extern float motor2Pos;
+
+extern float motorSpeed1;
+extern float motorSpeed2;
+
+extern float motorSetSpeed1;
+extern float motorSetSpeed2;
+
+
+extern float motorPWM1;
+extern float motorPWM2;
+
+// Set PID values
+extern float Kp1; 
+extern float Ki1; 
+extern float Kd1;
+
+extern float Kp2; 
+extern float Ki2; 
+extern float Kd2;
+
+extern float PIDinterval;
+
+
 void motorInit();
 void initPID();
 void motorControl();
 void servoControl();
 
+
 #endif 
\ No newline at end of file