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Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: functions.h
- Revision:
- 40:82addb417220
- Parent:
- 33:5e2e95c322da
- Child:
- 43:9579a1afe9cb
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/functions.h Mon Oct 14 11:46:35 2019 +0000 @@ -0,0 +1,25 @@ +#ifndef header_h +#define header_h +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); + + + + //Define global variables + extern double X; //Input from EMG, signal X + + //Define structures + + +#endif + +//double motorAndEncoder(float voltage1, float periodMotor1, float voltage2, float periodMotor2, float dt, float &countsMotor1Return, float &countsMotor2Return, float &velocityMotor1Return, float &velocityMotor2Return); + //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 + +//double ProcessEMG(double X); \ No newline at end of file