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Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
header.h@37:6602655a80f4, 2019-10-10 (annotated)
- Committer:
- JordanO
- Date:
- Thu Oct 10 15:33:24 2019 +0000
- Revision:
- 37:6602655a80f4
- Parent:
- 35:51914ac2d7f4
Input for motorAndSensorControl now all in structure
Who changed what in which revision?
| User | Revision | Line number | New 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 |
| JordanO | 35:51914ac2d7f4 | 6 | void motorAndEncoder(float PWM1, float PWM2, float PWM3, float dt); |
| JordanO | 37:6602655a80f4 | 7 | //motorData.motor#.input.PWM sets PWM |
| JordanO | 19:07706535ff7b | 8 | //voltage in PWM (between -1 and 1), -1 for negative direction full power, 1 for positive direction full power |
| JordanO | 37:6602655a80f4 | 9 | //motorData.dt sets time difference for velocity calculation |
| JordanO | 19:07706535ff7b | 10 | //dt the time between measurements, i.o.w. Ticker timing, for velocity calculation |
| JordanO | 37:6602655a80f4 | 11 | //Output in motorReturn.motor#.output.counts/velocity/angle |
| JordanO | 35:51914ac2d7f4 | 12 | #endif |
| JornD | 23:767911637f3a | 13 | |
| JornD | 24:d0ca537913c2 | 14 | //double ProcessEMG(double X); |