Chen Wei Ting / Mbed 2 deprecated LSM9DS1_project_4_torque

read encoder and Dynamixel angle

Dependencies:   MX28 PID mbed

encoder.h

Committer:
JJting
Date:
2018-08-04
Revision:
0:2dbbe7d28fab

File content as of revision 0:2dbbe7d28fab:

#ifndef _ENCODER_H_
#define _ENCODER_H_

#include "mbed.h"

extern void init_SPI_encoder();
extern void init_encoder();
extern void angle_measure();
extern int angle_count(unsigned short,unsigned short);

extern DigitalOut encoder_cs;
extern SPI spi_encoder;

extern unsigned short encoder_value;
extern unsigned short angle;
extern unsigned short angle_old;
extern int angle_dif;
extern int a_dif;
extern int Angle;
extern unsigned short k;


#endif