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:
MartijnGJ
Date:
2015-10-26
Revision:
105:663b73bb2f81
Parent:
104:750d7e13137d

File content as of revision 105:663b73bb2f81:

#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 servoSpeed;

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

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