Jorn Dokter / Mbed 2 deprecated TEB_branch2

TEB programma

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

global.cpp

Committer:
JornD
Date:
2019-10-16
Branch:
Branch2
Revision:
66:fa7171cf3f67
Parent:
64:5a6bf0cd1c50

File content as of revision 66:fa7171cf3f67:

#include "global.h"
#include "structures.h"

//Constant values
    const float Ts = 0.002;
    const float PI = 3.14159265359;

//Define Motor Data structure
    motorStruc motorData;

//Define Controller structures, shorthand: Set_
    //For the EMG filters
    ControllerSettings Set_LPFEMG;
    ControllerSettings Set_NOTEMG;
    //For the different controllers
    ControllerSettings Set_Base;            //Controller base
    ControllerSettings Set_EndAffector;     //Controller end affector 
    
//Define Memory cells of the Input/Output, shorthand: Mem_
    //For the EMG filters
    MemoryIO Mem_LPFEMG;
    MemoryIO Mem_NOTEMG;
    //For the different controllers
    MemoryIO Mem_Base;
    MemoryIO Mem_EndAffector;