TEB programma
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
global.cpp@66:fa7171cf3f67, 2019-10-16 (annotated)
- Committer:
- JornD
- Date:
- Wed Oct 16 13:39:19 2019 +0000
- Branch:
- Branch2
- Revision:
- 66:fa7171cf3f67
- Parent:
- 64:5a6bf0cd1c50
WORKING - Implemented Jordan's motor control
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| JornD | 64:5a6bf0cd1c50 | 1 | #include "global.h" |
| JornD | 64:5a6bf0cd1c50 | 2 | #include "structures.h" |
| JornD | 56:58cbb056e4be | 3 | |
| JornD | 64:5a6bf0cd1c50 | 4 | //Constant values |
| JornD | 64:5a6bf0cd1c50 | 5 | const float Ts = 0.002; |
| JornD | 56:58cbb056e4be | 6 | const float PI = 3.14159265359; |
| JornD | 64:5a6bf0cd1c50 | 7 | |
| JornD | 66:fa7171cf3f67 | 8 | //Define Motor Data structure |
| JornD | 66:fa7171cf3f67 | 9 | motorStruc motorData; |
| JornD | 66:fa7171cf3f67 | 10 | |
| JornD | 64:5a6bf0cd1c50 | 11 | //Define Controller structures, shorthand: Set_ |
| JornD | 66:fa7171cf3f67 | 12 | //For the EMG filters |
| JornD | 64:5a6bf0cd1c50 | 13 | ControllerSettings Set_LPFEMG; |
| JornD | 64:5a6bf0cd1c50 | 14 | ControllerSettings Set_NOTEMG; |
| JornD | 64:5a6bf0cd1c50 | 15 | //For the different controllers |
| JornD | 64:5a6bf0cd1c50 | 16 | ControllerSettings Set_Base; //Controller base |
| JornD | 64:5a6bf0cd1c50 | 17 | ControllerSettings Set_EndAffector; //Controller end affector |
| JornD | 64:5a6bf0cd1c50 | 18 | |
| JornD | 64:5a6bf0cd1c50 | 19 | //Define Memory cells of the Input/Output, shorthand: Mem_ |
| JornD | 64:5a6bf0cd1c50 | 20 | //For the EMG filters |
| JornD | 64:5a6bf0cd1c50 | 21 | MemoryIO Mem_LPFEMG; |
| JornD | 64:5a6bf0cd1c50 | 22 | MemoryIO Mem_NOTEMG; |
| JornD | 64:5a6bf0cd1c50 | 23 | //For the different controllers |
| JornD | 64:5a6bf0cd1c50 | 24 | MemoryIO Mem_Base; |
| JornD | 64:5a6bf0cd1c50 | 25 | MemoryIO Mem_EndAffector; |