Revision 2:6c1bc7631f99, committed 2015-10-06

Comitter:

ewoud

Date:

Tue Oct 06 10:18:59 2015 +0000

Parent:

1:a0b7b5fba2a4

Commit message:

nothing much

Changed in this revision

diff -r a0b7b5fba2a4 -r 6c1bc7631f99 inits.h
--- a/inits.h	Tue Oct 06 10:16:58 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,82 +0,0 @@
-//****************************************************************************/
-// Defines
-//****************************************************************************/
-#define RATE  0.01 
-#define Kc    0.30
-#define Ti    0.15
-#define Td    0.0
-
-//****************************************************************************/
-// Globals
-//****************************************************************************/
-Serial pc(USBTX, USBRX);
-HIDScope    scope(3);        // Instantize a 2-channel HIDScope object
-Ticker      scopeTimer;      // Instantize the timer for sending data to the PC 
-//--------
-// Motors 
-//--------
-// Left motor.
-PwmOut leftMotor(D5);
-DigitalOut leftDirection(D4);
-QEI leftQei(D12, D13, NC, 624);
-PID leftController(Kc, Ti, Td, RATE);
-
-// Right motor
-PwmOut rightMotor(D6);
-DigitalOut rightDirection(D7);
-QEI rightQei(D10, D11, NC, 624);
-PID rightController(Kc, Ti, Td, RATE);
-
-// EMG input
-AnalogIn pot1(A0);
-AnalogIn pot2(A1);
-
-
-// Timers
-Timer endTimer;
-Ticker motorControlTicker;
-bool goFlag=false;
-
-// Working variables.
-volatile int leftPulses     = 0;
-volatile int leftPrevPulses = 0;
-volatile float leftPwmDuty  = 0.0;
-volatile float leftPwmDutyPrev = 0.0;
-volatile float leftVelocity = 0.0;
-
-volatile int rightPulses     = 0;
-volatile int rightPrevPulses = 0;
-volatile float rightPwmDuty  = 0.0;
-volatile float rightPwmDutyPrev = 0.0;
-volatile float rightVelocity = 0.0;
-
-float request;
-float request_pos;
-float request_neg;
-
-void initMotors(){
-    //Initialization of motor
-    leftMotor.period_us(50);
-    leftMotor = 0.0;
-    leftDirection = 1;
-    
-    rightMotor.period_us(50);
-    rightMotor = 0.0;
-    rightDirection = 1;
-    
-}
-
-void initPIDs(){
-    //Initialization of PID controller
-    leftController.setInputLimits(-1.0, 1.0);
-    leftController.setOutputLimits(-1.0, 1.0);
-    leftController.setBias(0);
-    leftController.setDeadzone(-0.4, 0.4);
-    leftController.setMode(AUTO_MODE);
-    
-    rightController.setInputLimits(-1.0, 1.0);
-    rightController.setOutputLimits(-1.0, 1.0);
-    rightController.setBias(0);
-    rightController.setDeadzone(-0.4, 0.4);
-    rightController.setMode(AUTO_MODE);
-}
\ No newline at end of file