control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
Diff: config.h
- Revision:
- 5:73bfad06b775
- Parent:
- 4:80e2280058ed
- Child:
- 6:b957d8809e7c
diff -r 80e2280058ed -r 73bfad06b775 config.h --- a/config.h Mon Oct 05 16:15:25 2015 +0200 +++ b/config.h Mon Oct 05 17:35:02 2015 +0200 @@ -1,5 +1,7 @@ // All the definitions and variables +#define pot1Pin A0 +// MOTORS #define motor2DirPin D4 #define motor2PWMPin D5 @@ -15,11 +17,27 @@ bool motorEnable = false; -bool direction1 = false; +bool direction1 = false; // CCW is false(positive rotation), CW is true (neg rotation) bool direction2 = false; double motor1Pos = 0; double motor2Pos = 0; double motorSpeed1 = 0; -double motorSpeed2 = 0; \ No newline at end of file +double motorSpeed2 = 0; + +double motorSetSpeed1 = 0; +double motorSetSpeed2 = 0; + + +double motorPWM1 = 0; +double motorPWM2 = 0; + +// Set PID values +double Kp1 = 1; +double Ki1 = 1; +double Kd1 = 1; + +double Kp2 = 1; +double Ki2 = 1; +double Kd2 = 1; \ No newline at end of file