control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
actuators.h@52:2ac9dee099ce, 2015-10-09 (annotated)
- Committer:
- annesteenbeek
- Date:
- Fri Oct 09 13:42:41 2015 +0200
- Revision:
- 52:2ac9dee099ce
- Parent:
- 50:b0cf07ca53cf
- Child:
- 62:6c566e6f9664
changed motor parameters to more constant names, implemented personal PID
Who changed what in which revision?
User | Revision | Line number | New 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 | 25:874675516927 | 11 | |
annesteenbeek | 25:874675516927 | 12 | // CCW is false(positive rotation), CW is true (neg rotation) |
annesteenbeek | 25:874675516927 | 13 | extern float motor1Pos; |
annesteenbeek | 25:874675516927 | 14 | extern float motor2Pos; |
annesteenbeek | 25:874675516927 | 15 | |
annesteenbeek | 52:2ac9dee099ce | 16 | extern float motor1SetSpeed; |
annesteenbeek | 52:2ac9dee099ce | 17 | extern float motor2SetSpeed; |
annesteenbeek | 25:874675516927 | 18 | |
annesteenbeek |
32:2006977785f5 | 19 | extern float servoPos; |
annesteenbeek | 50:b0cf07ca53cf | 20 | extern float motorCall; |
annesteenbeek | 25:874675516927 | 21 | |
annesteenbeek | 25:874675516927 | 22 | // Set PID values |
annesteenbeek | 52:2ac9dee099ce | 23 | extern PID motor2PID; |
annesteenbeek | 30:a20f16bf8dda | 24 | |
annesteenbeek | 13:4837b36b9a68 | 25 | void motorInit(); |
annesteenbeek | 13:4837b36b9a68 | 26 | void motorControl(); |
annesteenbeek | 13:4837b36b9a68 | 27 | void servoControl(); |
annesteenbeek |
32:2006977785f5 | 28 | void calibrateMotors(); |
annesteenbeek | 34:f315b2b38555 | 29 | void writeMotors(); |
annesteenbeek | 25:874675516927 | 30 | |
annesteenbeek | 13:4837b36b9a68 | 31 | #endif |