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

config.h@5:73bfad06b775, 2015-10-05 (annotated)

Committer:
annesteenbeek
Date:
Mon Oct 05 17:35:02 2015 +0200
Revision:
5:73bfad06b775
Parent:
4:80e2280058ed
Child:
6:b957d8809e7c
added HIDScope in debugging

Who changed what in which revision?

UserRevisionLine numberNew contents of line
annesteenbeek 1:80f098c05d4b 1 // All the definitions and variables
annesteenbeek 5:73bfad06b775 2 #define pot1Pin A0
annesteenbeek 1:80f098c05d4b 3
annesteenbeek 5:73bfad06b775 4 // MOTORS
annesteenbeek 3:47c76be6d402 5 #define motor2DirPin D4
annesteenbeek 3:47c76be6d402 6 #define motor2PWMPin D5
annesteenbeek 3:47c76be6d402 7
annesteenbeek 3:47c76be6d402 8 #define motor1DirPin D7
annesteenbeek 3:47c76be6d402 9 #define motor1PWMPin D6
annesteenbeek 3:47c76be6d402 10
annesteenbeek 3:47c76be6d402 11 #define enc1A D11
annesteenbeek 3:47c76be6d402 12 #define enc1B D10
annesteenbeek 3:47c76be6d402 13 #define enc2A D13
annesteenbeek 3:47c76be6d402 14 #define enc2B D12
annesteenbeek 3:47c76be6d402 15
annesteenbeek 3:47c76be6d402 16 #define pwm_frequency 10000
annesteenbeek 3:47c76be6d402 17
annesteenbeek 3:47c76be6d402 18 bool motorEnable = false;
annesteenbeek 3:47c76be6d402 19
annesteenbeek 5:73bfad06b775 20 bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation)
annesteenbeek 3:47c76be6d402 21 bool direction2 = false;
annesteenbeek 3:47c76be6d402 22
annesteenbeek 3:47c76be6d402 23 double motor1Pos = 0;
annesteenbeek 3:47c76be6d402 24 double motor2Pos = 0;
annesteenbeek 4:80e2280058ed 25
annesteenbeek 4:80e2280058ed 26 double motorSpeed1 = 0;
annesteenbeek 5:73bfad06b775 27 double motorSpeed2 = 0;
annesteenbeek 5:73bfad06b775 28
annesteenbeek 5:73bfad06b775 29 double motorSetSpeed1 = 0;
annesteenbeek 5:73bfad06b775 30 double motorSetSpeed2 = 0;
annesteenbeek 5:73bfad06b775 31
annesteenbeek 5:73bfad06b775 32
annesteenbeek 5:73bfad06b775 33 double motorPWM1 = 0;
annesteenbeek 5:73bfad06b775 34 double motorPWM2 = 0;
annesteenbeek 5:73bfad06b775 35
annesteenbeek 5:73bfad06b775 36 // Set PID values
annesteenbeek 5:73bfad06b775 37 double Kp1 = 1;
annesteenbeek 5:73bfad06b775 38 double Ki1 = 1;
annesteenbeek 5:73bfad06b775 39 double Kd1 = 1;
annesteenbeek 5:73bfad06b775 40
annesteenbeek 5:73bfad06b775 41 double Kp2 = 1;
annesteenbeek 5:73bfad06b775 42 double Ki2 = 1;
annesteenbeek 5:73bfad06b775 43 double Kd2 = 1;