Diff: MotorControl.h

Revision:

4:66154ae82263

Parent:

3:170c22171ec2

--- a/MotorControl.h	Wed Jul 05 20:29:37 2017 +0000
+++ b/MotorControl.h	Wed Feb 20 22:14:07 2019 +0000
@@ -18,8 +18,8 @@
     void saveMotorCurrentMeasure(uint16_t MotA_ADCresult, uint16_t MotB_ADCresult);
     float getWheelSpeed(char mot);
     float getWheelRPS(char mot);
+    float getAverageSpeed();
     float getCarSpeed();
-    void setPWM(float value);
     void setFixedPWMMode(void);
     void setRegulatedPWMMode(void);
     void processTasks();
@@ -39,8 +39,8 @@
     
     int16_t motorAPWM[MOTSAMPLECOUNT];
     int16_t motorBPWM[MOTSAMPLECOUNT];
-    uint16_t motorACurrent[MOTSAMPLECOUNT];
-    uint16_t motorBCurrent[MOTSAMPLECOUNT];
+    float motorACurrent[MOTSAMPLECOUNT];
+    float motorBCurrent[MOTSAMPLECOUNT];
     uint16_t batteryVoltage[BATSAMPLECOUNT];
     
     uint8_t motorCurrentIndex;
@@ -49,8 +49,8 @@
     int16_t nextPWM;
 //    int16_t torqueDiffAvg;
     uint8_t motorDriveIndex;
-    float currentMotAPWM;
-    float currentMotBPWM;
+    int16_t currentMotAPWM;
+    int16_t currentMotBPWM;
     
     int32_t speedTarget;
     int32_t speederror1000000;