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Dependencies:   mbed DRV88255 TextLCD Ping mbed-rtos

Diff: PIDController.h

Revision:
32:1e4919a44196
Parent:
29:2b256a7ce0ae
Child:
35:c9261391a995
--- a/PIDController.h	Tue Jun 14 10:51:15 2016 +0000
+++ b/PIDController.h	Tue Jun 14 11:12:44 2016 +0000
@@ -2,9 +2,17 @@
 #define __PIDCONTROLLER_H__
 
 #include "mbed.h"
+#include "DRV8825.h"
+#include "stdio.h"
 #include "SensorController.h"
 
 
+#define MAX_SPEED           8000
+#define MICROSTEPS_PER_STEP 16 
+
+#define LEFT  1
+#define RIGHT 0
+
 class PIDController : public Controller {
 
     
@@ -26,6 +34,16 @@
         SensorController *salt;
         SensorController *proximity;
         
+        void pump_salt_water(int ml);
+        
+        void pump_fresh_water(int ml);
+        
+        void pump_water(DRV8825 *mtr, int ml);
+        
+        float getMlSaltyWater(float, float);
+        
+        float getMlFreshWater(float, float);
+        
         
 };