Jorn Dokter / Mbed 2 deprecated TEB_branch2

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

Diff: motorAndSensorControl.cpp

Revision:
34:b035131eda3e
Parent:
32:da34d27a13f3
Child:
35:51914ac2d7f4
--- a/motorAndSensorControl.cpp	Wed Oct 09 14:19:23 2019 +0000
+++ b/motorAndSensorControl.cpp	Thu Oct 10 10:56:23 2019 +0000
@@ -29,7 +29,7 @@
         const double PI = 3.14159265358979;
         const float countsToRadians = (2*PI)/uniqueMeasurementPoints; //Number of radians per count
         
-        
+        motorData motorReturn;
 
 void motorAndEncoder(float PWM1, float PWM2, float dt)
 {
@@ -60,7 +60,9 @@
         
             motor2.period(periodPWM);
             motor2.write(PWM2);
+            
     //Read encoders
+    
         //Counts
             //set the value from last loop to poisition 0 in the vector
                 countsMotor1[0] = countsMotor1[1];
@@ -75,12 +77,13 @@
             velocityMotor1 = ((countsMotor1[1]-countsMotor1[0])/countsToRadians)/dt; //rad/s
             velocityMotor2 = ((countsMotor2[1]-countsMotor2[0])/countsToRadians)/dt; //rad/s
     
-    motorReturn.motor1.counts = countsMotor1[1];
-    motorReturn.motor2.counts = countsMotor2[1];
+    ::motorReturn.motor1.counts = countsMotor1[1];
+    ::motorReturn.motor2.counts = countsMotor2[1];
     
-    motorReturn.motor1.angle = angleMotor1;
-    motorReturn.motor2.angle = angleMotor2;
+    ::motorReturn.motor1.angle = angleMotor1;
+    ::motorReturn.motor2.angle = angleMotor2;
     
-    motorReturn.motor1.velocity = velocityMotor1;
-    motorReturn.motor2.velocity = velocityMotor2;
+    ::motorReturn.motor1.velocity = velocityMotor1;
+    ::motorReturn.motor2.velocity = velocityMotor2;
+    
 }