File content as of revision 40:82addb417220:

#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);