Jorn Dokter / Mbed 2 deprecated TEB_branch2

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

structures.h

Committer:
JornD
Date:
2019-10-15
Revision:
49:a9ed4f4cdef7
Parent:
40:82addb417220
Child:
50:283a831f84a9

File content as of revision 49:a9ed4f4cdef7:

#ifndef global_h
#define global_h

//Structures
//--Motor data
    struct motorReturnSub
    {
        int zerocounts;
        int counts;
        float angle;
        float velocity;
    };
    
    struct motorData
    {
        motorReturnSub motor1;
        motorReturnSub motor2;
        motorReturnSub motor3;
    };
    
//--PID controller settings
    struct ControllerSettings //Controller settings of the discrete TF
    {
        float A;
        float B;
        float C;
        float D;
        float E;
    };
    
//--Memory of Input/Output
    struct MemoryIO
    {
        float dY;   //output, delayed once
        float ddY;  //output, delayed twice
        float dX;   //input, delayed once
        float ddX;  //input, delayed twice
        //void ShiftValues
    };   


#endif