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:
2015-10-07
Revision:
32:2006977785f5
Parent:
31:8fbee6c92753
Child:
34:f315b2b38555

File content as of revision 32:2006977785f5:

#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 float motor1Pos;
extern float motor2Pos;

extern float motorSetSpeed1;
extern float motorSetSpeed2;

extern float servoPos;

// Set PID values
extern PID PIDmotor2;

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

#endif