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:
2015-10-28
Revision:
120:440f1516101b
Parent:
118:49605b5bd802
Child:
127:831f03471efb

File content as of revision 120:440f1516101b:

#ifndef ACTUATORS_H
#define ACTUATORS_H

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

extern DigitalOut  redLed;
extern DigitalOut  greenLed;
extern DigitalOut  blueLed;

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 setXSpeed;
extern double setYSpeed;
extern double servoSpeed;

// unscaled EMG velocity's
extern double x_velocity;
extern double y_velocity;
extern double z_velocity;

extern double servoSpeed;
extern double motorCall;

extern bool calReady;

// Set PID values
extern PID motor2PID;

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

#endif