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

Committer:
annesteenbeek
Date:
2015-10-20
Revision:
76:0aa90e728e4a
Parent:
73:05cd0e692b74
Child:
78:0cc7c64ba94c

File content as of revision 76:0aa90e728e4a:

#ifndef ACTUATORS_H
#define ACTUATORS_H

#include "PID.h"
#include "mbed.h"
#include "config.h"
#include "encoder.h"


extern bool motorsEnable;
extern bool safetyOn;

// CCW is false(positive rotation), CW is true (neg rotation)
extern double motor1Pos;
extern double motor2Pos;

extern double motor1SetSpeed;
extern double motor2SetSpeed;

extern double servoPos;
extern double motorCall;

// Set PID values
extern PID motor2PID;

void motorInit();
void motorControl();
void servoControl();
void calibrateMotors();
void writeMotors();
void safety();

#endif