control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
actuators.h@30:a20f16bf8dda, 2015-10-06 (annotated)
- Committer:
- annesteenbeek
- Date:
- Tue Oct 06 21:06:20 2015 +0000
- Revision:
- 30:a20f16bf8dda
- Parent:
- 29:e4f3455aaa0b
- Child:
- 31:8fbee6c92753
divided functions with Tickers and working 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 | 25:874675516927 | 10 | extern bool motorEnable; |
annesteenbeek | 25:874675516927 | 11 | |
annesteenbeek | 25:874675516927 | 12 | // CCW is false(positive rotation), CW is true (neg rotation) |
annesteenbeek | 25:874675516927 | 13 | extern bool direction1; |
annesteenbeek | 25:874675516927 | 14 | extern bool direction2; |
annesteenbeek | 25:874675516927 | 15 | |
annesteenbeek | 25:874675516927 | 16 | extern float motor1Pos; |
annesteenbeek | 25:874675516927 | 17 | extern float motor2Pos; |
annesteenbeek | 25:874675516927 | 18 | |
annesteenbeek | 25:874675516927 | 19 | extern float motorSpeed1; |
annesteenbeek | 25:874675516927 | 20 | extern float motorSpeed2; |
annesteenbeek | 25:874675516927 | 21 | |
annesteenbeek | 25:874675516927 | 22 | extern float motorSetSpeed1; |
annesteenbeek | 25:874675516927 | 23 | extern float motorSetSpeed2; |
annesteenbeek | 25:874675516927 | 24 | |
annesteenbeek | 25:874675516927 | 25 | |
annesteenbeek | 25:874675516927 | 26 | extern float motorPWM1; |
annesteenbeek | 25:874675516927 | 27 | extern float motorPWM2; |
annesteenbeek | 25:874675516927 | 28 | |
annesteenbeek | 25:874675516927 | 29 | // Set PID values |
annesteenbeek | 25:874675516927 | 30 | extern float Kp1; |
annesteenbeek | 25:874675516927 | 31 | extern float Ki1; |
annesteenbeek | 25:874675516927 | 32 | extern float Kd1; |
annesteenbeek | 25:874675516927 | 33 | |
annesteenbeek | 25:874675516927 | 34 | extern float Kp2; |
annesteenbeek | 25:874675516927 | 35 | extern float Ki2; |
annesteenbeek | 25:874675516927 | 36 | extern float Kd2; |
annesteenbeek | 25:874675516927 | 37 | |
annesteenbeek | 25:874675516927 | 38 | extern float PIDinterval; |
annesteenbeek | 25:874675516927 | 39 | |
annesteenbeek | 30:a20f16bf8dda | 40 | extern PID PIDmotor2; |
annesteenbeek | 30:a20f16bf8dda | 41 | |
annesteenbeek | 13:4837b36b9a68 | 42 | void motorInit(); |
annesteenbeek | 13:4837b36b9a68 | 43 | void motorControl(); |
annesteenbeek | 13:4837b36b9a68 | 44 | void servoControl(); |
annesteenbeek | 13:4837b36b9a68 | 45 | |
annesteenbeek | 25:874675516927 | 46 | |
annesteenbeek | 13:4837b36b9a68 | 47 | #endif |