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@78:0cc7c64ba94c, 2015-10-20 (annotated)

Committer:
annesteenbeek
Date:
Tue Oct 20 12:58:13 2015 +0200
Revision:
78:0cc7c64ba94c
Parent:
76:0aa90e728e4a
Child:
97:0f67952051e5
Child:
98:25528494287d
started merging EMG

Who changed what in which revision?

UserRevisionLine numberNew contents of line
annesteenbeek 13:4837b36b9a68 1 #ifndef ACTUATORS_H
annesteenbeek 13:4837b36b9a68 2 #define ACTUATORS_H
annesteenbeek 13:4837b36b9a68 3
annesteenbeek 25:874675516927 4 #include "PID.h"
annesteenbeek 25:874675516927 5 #include "mbed.h"
annesteenbeek 25:874675516927 6 #include "config.h"
annesteenbeek 25:874675516927 7 #include "encoder.h"
annesteenbeek 25:874675516927 8
annesteenbeek 25:874675516927 9
annesteenbeek 34:f315b2b38555 10 extern bool motorsEnable;
annesteenbeek 73:05cd0e692b74 11 extern bool safetyOn;
annesteenbeek 25:874675516927 12
annesteenbeek 25:874675516927 13 // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 62:6c566e6f9664 14 extern double motor1Pos;
annesteenbeek 62:6c566e6f9664 15 extern double motor2Pos;
annesteenbeek 25:874675516927 16
annesteenbeek 62:6c566e6f9664 17 extern double motor1SetSpeed;
annesteenbeek 62:6c566e6f9664 18 extern double motor2SetSpeed;
annesteenbeek 25:874675516927 19
annesteenbeek 78:0cc7c64ba94c 20 // unscaled EMG velocity's
annesteenbeek 78:0cc7c64ba94c 21 extern double x_velocity;
annesteenbeek 78:0cc7c64ba94c 22 extern double y_velocity;
annesteenbeek 78:0cc7c64ba94c 23 extern double z_velocity;
annesteenbeek 78:0cc7c64ba94c 24
annesteenbeek 62:6c566e6f9664 25 extern double servoPos;
annesteenbeek 62:6c566e6f9664 26 extern double motorCall;
annesteenbeek 25:874675516927 27
annesteenbeek 25:874675516927 28 // Set PID values
annesteenbeek 52:2ac9dee099ce 29 extern PID motor2PID;
annesteenbeek 30:a20f16bf8dda 30
annesteenbeek 13:4837b36b9a68 31 void motorInit();
annesteenbeek 13:4837b36b9a68 32 void motorControl();
annesteenbeek 13:4837b36b9a68 33 void servoControl();
annesteenbeek 32:2006977785f5 34 void calibrateMotors();
annesteenbeek 34:f315b2b38555 35 void writeMotors();
annesteenbeek 76:0aa90e728e4a 36 void safety();
annesteenbeek 25:874675516927 37
annesteenbeek 13:4837b36b9a68 38 #endif