![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
debug.h@121:6d8f1bdcda05, 2015-10-28 (annotated)
- Committer:
- annesteenbeek
- Date:
- Wed Oct 28 13:38:36 2015 +0100
- Revision:
- 121:6d8f1bdcda05
- Parent:
- 110:a6439e13be8b
- Child:
- 122:1a5df0765790
- Child:
- 124:f67ce69557db
set debugging for kinematics
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
annesteenbeek | 14:0c0d1bfd94ea | 1 | #ifndef DEBUG_H |
annesteenbeek | 14:0c0d1bfd94ea | 2 | #define DEBUG_H |
annesteenbeek | 14:0c0d1bfd94ea | 3 | |
annesteenbeek | 30:a20f16bf8dda | 4 | #include "PID.h" |
annesteenbeek | 49:b58958e6cacd | 5 | #include "mbed.h" |
annesteenbeek | 78:0cc7c64ba94c | 6 | #include "emg.h" |
annesteenbeek | 78:0cc7c64ba94c | 7 | |
annesteenbeek | 62:6c566e6f9664 | 8 | extern double motor2SetSpeed; |
annesteenbeek | 62:6c566e6f9664 | 9 | extern double motor2Speed; |
annesteenbeek | 62:6c566e6f9664 | 10 | extern double motor2Pos; |
annesteenbeek | 62:6c566e6f9664 | 11 | extern double motor2PWM; |
annesteenbeek | 36:6f9670eb9168 | 12 | extern bool motorsEnable; |
annesteenbeek | 36:6f9670eb9168 | 13 | extern int actuatorState; |
annesteenbeek | 62:6c566e6f9664 | 14 | extern double prevTime; |
annesteenbeek | 110:a6439e13be8b | 15 | extern double servoSpeed; |
annesteenbeek | 27:5eb5ec295ab2 | 16 | |
annesteenbeek | 121:6d8f1bdcda05 | 17 | extern double Xpos; |
annesteenbeek | 121:6d8f1bdcda05 | 18 | extern double Ypos; |
annesteenbeek | 121:6d8f1bdcda05 | 19 | |
annesteenbeek | 52:2ac9dee099ce | 20 | extern PID motor2PID; |
annesteenbeek | 41:d5c3055a7bc7 | 21 | extern DigitalIn button2; |
annesteenbeek | 42:d36d216457c4 | 22 | extern AnalogIn pot2; |
annesteenbeek | 42:d36d216457c4 | 23 | extern AnalogIn pot1; |
annesteenbeek | 62:6c566e6f9664 | 24 | extern double Kp, Ki, Kd; |
annesteenbeek | 59:fe00be2cf8fd | 25 | |
annesteenbeek | 100:222c27f55b85 | 26 | extern double emg_filt_val1; |
annesteenbeek | 78:0cc7c64ba94c | 27 | extern double emg_filt_val2; |
annesteenbeek | 78:0cc7c64ba94c | 28 | extern double x_velocity; |
annesteenbeek | 78:0cc7c64ba94c | 29 | extern double y_velocity; |
annesteenbeek | 100:222c27f55b85 | 30 | extern double z_velocity; |
annesteenbeek | 78:0cc7c64ba94c | 31 | extern bool pump; |
annesteenbeek | 78:0cc7c64ba94c | 32 | extern int DOF; |
annesteenbeek | 100:222c27f55b85 | 33 | extern bool mode; |
annesteenbeek | 78:0cc7c64ba94c | 34 | |
annesteenbeek | 78:0cc7c64ba94c | 35 | |
annesteenbeek | 14:0c0d1bfd94ea | 36 | void debugProcess(); |
annesteenbeek | 14:0c0d1bfd94ea | 37 | |
annesteenbeek | 14:0c0d1bfd94ea | 38 | #endif |