Chen Wei Ting / Mbed 2 deprecated LSM9DS1_project_4_torque

read encoder and Dynamixel angle

Dependencies:   MX28 PID mbed

Diff: encoder.h

Revision:
0:2dbbe7d28fab
diff -r 000000000000 -r 2dbbe7d28fab encoder.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoder.h	Sat Aug 04 05:55:50 2018 +0000
@@ -0,0 +1,23 @@
+#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
\ No newline at end of file