Jorn Dokter / Mbed 2 deprecated TEB_branch2

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

header.h

Committer:
JordanO
Date:
2019-10-04
Revision:
21:0a37e3280bbd
Parent:
20:19f7b0d5ec7b
Child:
22:4197629a300f

File content as of revision 21:0a37e3280bbd:

double ControllerPID(double e, double Ts); //e = error, Ts = sampling time


double motorAndEncoder(float voltage1, float periodMotor1, float voltage2, float periodMotor2, 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