File content as of revision 33:5e2e95c322da:

#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);

    //Structures
    struct motorReturnSub
    {
        int counts;
        float angle;
        float velocity;
    };
    
    struct motorData
    {
        motorReturnSub motor1;
        motorReturnSub motor2;
        motorReturnSub motor3;
    };
    
    //Define global variables
    extern double X; //Input from EMG, signal X
    
    //Define structures
    extern motorData motorReturn; 

#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);