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@97:0f67952051e5, 2015-10-21 (annotated)

Committer:
annesteenbeek
Date:
Wed Oct 21 13:50:38 2015 +0200
Revision:
97:0f67952051e5
Parent:
78:0cc7c64ba94c 
working calibration

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 97:0f67952051e5 8 #include "buttons.h"
annesteenbeek 25:874675516927 9
annesteenbeek 97:0f67952051e5 10 extern DigitalOut redLed;
annesteenbeek 97:0f67952051e5 11 extern DigitalOut greenLed;
annesteenbeek 97:0f67952051e5 12 extern DigitalOut blueLed;
annesteenbeek 25:874675516927 13
annesteenbeek 34:f315b2b38555 14 extern bool motorsEnable;
annesteenbeek 73:05cd0e692b74 15 extern bool safetyOn;
annesteenbeek 25:874675516927 16
annesteenbeek 25:874675516927 17 // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 62:6c566e6f9664 18 extern double motor1Pos;
annesteenbeek 62:6c566e6f9664 19 extern double motor2Pos;
annesteenbeek 25:874675516927 20
annesteenbeek 62:6c566e6f9664 21 extern double motor1SetSpeed;
annesteenbeek 62:6c566e6f9664 22 extern double motor2SetSpeed;
annesteenbeek 25:874675516927 23
annesteenbeek 78:0cc7c64ba94c 24 // unscaled EMG velocity's
annesteenbeek 78:0cc7c64ba94c 25 extern double x_velocity;
annesteenbeek 78:0cc7c64ba94c 26 extern double y_velocity;
annesteenbeek 78:0cc7c64ba94c 27 extern double z_velocity;
annesteenbeek 78:0cc7c64ba94c 28
annesteenbeek 62:6c566e6f9664 29 extern double servoPos;
annesteenbeek 62:6c566e6f9664 30 extern double motorCall;
annesteenbeek 25:874675516927 31
annesteenbeek 25:874675516927 32 // Set PID values
annesteenbeek 52:2ac9dee099ce 33 extern PID motor2PID;
annesteenbeek 30:a20f16bf8dda 34
annesteenbeek 13:4837b36b9a68 35 void motorInit();
annesteenbeek 13:4837b36b9a68 36 void motorControl();
annesteenbeek 13:4837b36b9a68 37 void servoControl();
annesteenbeek 32:2006977785f5 38 void calibrateMotors();
annesteenbeek 34:f315b2b38555 39 void writeMotors();
annesteenbeek 76:0aa90e728e4a 40 void safety();
annesteenbeek 25:874675516927 41
annesteenbeek 13:4837b36b9a68 42 #endif