Jorn Dokter / Mbed 2 deprecated TEB_branch2

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

Diff: header.h

Revision:
35:51914ac2d7f4
Parent:
32:da34d27a13f3
Child:
37:6602655a80f4
--- a/header.h	Thu Oct 10 10:56:23 2019 +0000
+++ b/header.h	Thu Oct 10 14:36:42 2019 +0000
@@ -3,14 +3,11 @@
 int AddInt(int a, int b);
 
 double ControllerPID(double e, double Ts); //e = error, Ts = sampling time
-void motorAndEncoder(float PWM1, float PWM2, float dt);
-#endif
-
-//double motorAndEncoder(float voltage1, float periodMotor1, float voltage2, float periodMotor2, float dt,  float &countsMotor1Return, float &countsMotor2Return, float &velocityMotor1Return, float &velocityMotor2Return);
+void motorAndEncoder(float PWM1, float PWM2, float PWM3, float dt);
     //voltage in PWM (between -1 and 1), -1 for negative direction full power, 1 for positive direction full power
     //period in seconds
     //dt the time between measurements, i.o.w. Ticker timing, for velocity calculation
-    //Returns (velocityMotor1, velocityMotor2, countsMotor1[1], countsMotor2[0])
-        //Velocity in radians/s
+    //Edits motorReturn.motor#.counts/velocity/angle
+#endif
         
 //double ProcessEMG(double X);
\ No newline at end of file