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

Diff: actuators.cpp

Revision:
6:b957d8809e7c
Parent:
5:73bfad06b775
Child:
12:61759f94c07a
--- a/actuators.cpp	Mon Oct 05 17:35:02 2015 +0200
+++ b/actuators.cpp	Mon Oct 05 17:51:59 2015 +0200
@@ -1,4 +1,30 @@
 // functions for controlling the motors
+bool motorEnable = false;
+
+bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation)
+bool direction2 = false;
+
+double motor1Pos = 0;
+double motor2Pos = 0;
+
+double motorSpeed1 = 0;
+double motorSpeed2 = 0;
+
+double motorSetSpeed1 = 0;
+double motorSetSpeed2 = 0;
+
+
+double motorPWM1 = 0;
+double motorPWM2 = 0;
+
+// Set PID values
+double Kp1 = 1; 
+double Ki1 = 1; 
+double Kd1 = 1;
+
+double Kp2 = 1; 
+double Ki2 = 1; 
+double Kd2 = 1;
 
 void motorInit(){
     // Initialze motors