Diff: MotorControl.h

Revision:

2:0d5c994d8135

Parent:

1:7ce4ffeb8ccb

Child:

3:170c22171ec2

--- a/MotorControl.h	Fri Mar 25 13:03:59 2016 +0000
+++ b/MotorControl.h	Thu Jun 01 13:16:50 2017 +0000
@@ -16,16 +16,23 @@
     void stop();
     void saveBatteryVoltageMeasure(uint16_t ADCresult);
     void saveMotorCurrentMeasure(uint16_t MotA_ADCresult, uint16_t MotB_ADCresult);
-    void saveSteering(float angle);
     float getWheelSpeed(char mot);
     float getWheelRPS(char mot);
+    float getCarSpeed();
     void processTasks();
+    float getMotCurrent(char mot);
+    float getMotPWM(char mot);
     float getAverageMotCurrent(char mot);
     float getAverageBatteryVoltage();
     void setFixedPWMValue(float pwm);
+    void setSpeedTargetValue(float speed);
+    
+    float getSpeedError();
 
     private:
     
+    int16_t motorAPWM[MOTSAMPLECOUNT];
+    int16_t motorBPWM[MOTSAMPLECOUNT];
     uint16_t motorACurrent[MOTSAMPLECOUNT];
     uint16_t motorBCurrent[MOTSAMPLECOUNT];
     uint16_t batteryVoltage[BATSAMPLECOUNT];
@@ -33,8 +40,14 @@
     uint8_t motorCurrentIndex;
     uint8_t batVoltageIndex;
     
-    float currentPWM;
-    float steeringAngle;
+    int16_t nextPWM;
+//    int16_t torqueDiffAvg;
+    uint8_t motorDriveIndex;
+    float currentMotAPWM;
+    float currentMotBPWM;
+    
+    int32_t speedTarget;
+    int32_t speederror1000000;
 };
 
 #endif
\ No newline at end of file