Group19-Biorobotics
Dependencies: HIDScope MODSERIAL PID QEI SigInterpreternovember2 biquadFilter mbed
Fork of Robot_control_v3 by
Diff: Controller.h
- Revision:
- 0:d935ea6f5c25
- Child:
- 1:b9005f2aabf5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Controller.h Fri Oct 21 09:13:53 2016 +0000 @@ -0,0 +1,33 @@ +InterruptIn calibrateButton(D2); +int x = 0; // pulses +int x_max; // ???physically measure +int y = 0; +int y_max; // ??? +double rMax; // calibrate maxpower.. +double lMax; +double uMax; +double dMax; +float RATE; // ??? +float motorValueHor = 0; +float motorValueVer = 0; + +float maxHorVel = 1.0f; // 1 cm/sec +float maxVerVel = 1.0f; // 1cm/sec + + +int prevX = 0; +int prevY = 0; + +void calibrate(); +void run(); +double toMotorValue(double,double); +void emergencyExit(); +void motorOutput(double, bool); + +SigInterpreter signal = SigInterpreter(); +MyMotor motor = MyMotor(); +PulseChecker pulses = PulseChecker(); + +Ticker motorControl; +void setFlag(); +bool flag = true;