control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
Diff: actuators.h
- Revision:
- 25:874675516927
- Parent:
- 13:4837b36b9a68
- Child:
- 26:0a9e4147a31a
diff -r c562b9a4176d -r 874675516927 actuators.h --- a/actuators.h Mon Oct 05 21:27:52 2015 +0200 +++ b/actuators.h Tue Oct 06 14:24:40 2015 +0000 @@ -1,9 +1,47 @@ #ifndef ACTUATORS_H #define ACTUATORS_H +#include "PID.h" +#include "mbed.h" +#include "config.h" +#include "encoder.h" + + +extern bool motorEnable; + +// CCW is false(positive rotation), CW is true (neg rotation) +extern bool direction1; +extern bool direction2; + +extern float motor1Pos; +extern float motor2Pos; + +extern float motorSpeed1; +extern float motorSpeed2; + +extern float motorSetSpeed1; +extern float motorSetSpeed2; + + +extern float motorPWM1; +extern float motorPWM2; + +// Set PID values +extern float Kp1; +extern float Ki1; +extern float Kd1; + +extern float Kp2; +extern float Ki2; +extern float Kd2; + +extern float PIDinterval; + + void motorInit(); void initPID(); void motorControl(); void servoControl(); + #endif \ No newline at end of file