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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

header.h@33:5e2e95c322da, 2019-10-09 (annotated)

Committer:
JornD
Date:
Wed Oct 09 15:26:54 2019 +0000
Revision:
33:5e2e95c322da
Parent:
32:da34d27a13f3 
Stripping down the code and trying to fix L6312W;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JornD 24:d0ca537913c2 1 #ifndef header_h
JornD 24:d0ca537913c2 2 #define header_h
JornD 24:d0ca537913c2 3 int AddInt(int a, int b);
JordanO 27:71be6e074d0f 4
JordanO 18:266f1ffdc9c4 5 double ControllerPID(double e, double Ts); //e = error, Ts = sampling time
JornD 33:5e2e95c322da 6 //void motorAndEncoder(float PWM1, float PWM2, float dt);
JornD 33:5e2e95c322da 7
JornD 33:5e2e95c322da 8 //Structures
JornD 33:5e2e95c322da 9 struct motorReturnSub
JornD 33:5e2e95c322da 10 {
JornD 33:5e2e95c322da 11 int counts;
JornD 33:5e2e95c322da 12 float angle;
JornD 33:5e2e95c322da 13 float velocity;
JornD 33:5e2e95c322da 14 };
JornD 33:5e2e95c322da 15
JornD 33:5e2e95c322da 16 struct motorData
JornD 33:5e2e95c322da 17 {
JornD 33:5e2e95c322da 18 motorReturnSub motor1;
JornD 33:5e2e95c322da 19 motorReturnSub motor2;
JornD 33:5e2e95c322da 20 motorReturnSub motor3;
JornD 33:5e2e95c322da 21 };
JornD 33:5e2e95c322da 22
JornD 33:5e2e95c322da 23 //Define global variables
JornD 33:5e2e95c322da 24 extern double X; //Input from EMG, signal X
JornD 33:5e2e95c322da 25
JornD 33:5e2e95c322da 26 //Define structures
JornD 33:5e2e95c322da 27 extern motorData motorReturn;
JornD 33:5e2e95c322da 28
JornD 24:d0ca537913c2 29 #endif
JordanO 18:266f1ffdc9c4 30
JornD 24:d0ca537913c2 31 //double motorAndEncoder(float voltage1, float periodMotor1, float voltage2, float periodMotor2, float dt, float &countsMotor1Return, float &countsMotor2Return, float &velocityMotor1Return, float &velocityMotor2Return);
JordanO 19:07706535ff7b 32 //voltage in PWM (between -1 and 1), -1 for negative direction full power, 1 for positive direction full power
JordanO 18:266f1ffdc9c4 33 //period in seconds
JordanO 19:07706535ff7b 34 //dt the time between measurements, i.o.w. Ticker timing, for velocity calculation
JordanO 18:266f1ffdc9c4 35 //Returns (velocityMotor1, velocityMotor2, countsMotor1[1], countsMotor2[0])
JornD 23:767911637f3a 36 //Velocity in radians/s
JornD 23:767911637f3a 37
JornD 24:d0ca537913c2 38 //double ProcessEMG(double X);