control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
debug.h@124:f67ce69557db, 2015-10-29 (annotated)
- Committer:
- annesteenbeek
- Date:
- Thu Oct 29 18:23:08 2015 +0100
- Revision:
- 124:f67ce69557db
- Parent:
- 121:6d8f1bdcda05
- Child:
- 127:831f03471efb
added serial communication interface
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 | 124:f67ce69557db | 12 | extern double motor1PWM; |
annesteenbeek | 124:f67ce69557db | 13 | extern double motor1SetSpeed; |
annesteenbeek | 36:6f9670eb9168 | 14 | extern bool motorsEnable; |
annesteenbeek | 36:6f9670eb9168 | 15 | extern int actuatorState; |
annesteenbeek | 62:6c566e6f9664 | 16 | extern double prevTime; |
annesteenbeek | 110:a6439e13be8b | 17 | extern double servoSpeed; |
annesteenbeek | 27:5eb5ec295ab2 | 18 | |
annesteenbeek | 121:6d8f1bdcda05 | 19 | extern double Xpos; |
annesteenbeek | 121:6d8f1bdcda05 | 20 | extern double Ypos; |
annesteenbeek | 121:6d8f1bdcda05 | 21 | |
annesteenbeek | 52:2ac9dee099ce | 22 | extern PID motor2PID; |
annesteenbeek | 41:d5c3055a7bc7 | 23 | extern DigitalIn button2; |
annesteenbeek | 42:d36d216457c4 | 24 | extern AnalogIn pot2; |
annesteenbeek | 42:d36d216457c4 | 25 | extern AnalogIn pot1; |
annesteenbeek | 62:6c566e6f9664 | 26 | extern double Kp, Ki, Kd; |
annesteenbeek | 59:fe00be2cf8fd | 27 | |
annesteenbeek | 100:222c27f55b85 | 28 | extern double emg_filt_val1; |
annesteenbeek | 78:0cc7c64ba94c | 29 | extern double emg_filt_val2; |
annesteenbeek | 78:0cc7c64ba94c | 30 | extern double x_velocity; |
annesteenbeek | 78:0cc7c64ba94c | 31 | extern double y_velocity; |
annesteenbeek | 100:222c27f55b85 | 32 | extern double z_velocity; |
annesteenbeek | 78:0cc7c64ba94c | 33 | extern bool pump; |
annesteenbeek | 78:0cc7c64ba94c | 34 | extern int DOF; |
annesteenbeek | 100:222c27f55b85 | 35 | extern bool mode; |
annesteenbeek | 78:0cc7c64ba94c | 36 | |
annesteenbeek | 78:0cc7c64ba94c | 37 | |
annesteenbeek | 14:0c0d1bfd94ea | 38 | void debugProcess(); |
annesteenbeek | 14:0c0d1bfd94ea | 39 | |
annesteenbeek | 14:0c0d1bfd94ea | 40 | #endif |