Jorn Dokter / Mbed 2 deprecated TEB_branch2

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

Diff: structures.h

Branch:
Branch2
Revision:
63:734986afcddb
Parent:
61:4c7de1e2f9fe
--- a/structures.h	Wed Oct 16 10:17:23 2019 +0000
+++ b/structures.h	Wed Oct 16 10:22:47 2019 +0000
@@ -3,21 +3,36 @@
 
 //Structures
 //--Motor data
-    struct motorReturnSub
+    struct motorDataOutputSub
     {
-        int zerocounts;
         int counts;
         float angle;
         float velocity;
     };
     
-    struct motorData
+    struct motorDataInputSub
+    {
+        float PWM;
+        int calibrationCounts;
+    };
+    
+    struct motorDataCombined
     {
-        motorReturnSub motor1;
-        motorReturnSub motor2;
-        motorReturnSub motor3;
+        motorDataOutputSub output;
+        motorDataInputSub input;
+    
     };
     
+    struct motorStruc
+    {
+        motorDataCombined motor1;
+        motorDataCombined motor2;
+        motorDataCombined motor3;
+        float dt;
+        bool debug;
+    }; 
+    motorStruc motorData;
+    
 //--PID controller settings
     struct ControllerSettings //Controller settings of the discrete TF
     {