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Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
header.h@22:4197629a300f, 2019-10-04 (annotated)
- Committer:
- JordanO
- Date:
- Fri Oct 04 10:17:19 2019 +0000
- Revision:
- 22:4197629a300f
- Parent:
- 21:0a37e3280bbd
- Child:
- 23:767911637f3a
Retunr should function now;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| JordanO | 18:266f1ffdc9c4 | 1 | double ControllerPID(double e, double Ts); //e = error, Ts = sampling time |
| JordanO | 18:266f1ffdc9c4 | 2 | |
| JordanO | 18:266f1ffdc9c4 | 3 | |
| JordanO | 22:4197629a300f | 4 | double motorAndEncoder(float voltage1, float periodMotor1, float voltage2, float periodMotor2, float dt, float &countsMotor1Return, float &countsMotor2Return, float &velocityMotor1Return, float &velocityMotor2Return); |
| JordanO | 19:07706535ff7b | 5 | //voltage in PWM (between -1 and 1), -1 for negative direction full power, 1 for positive direction full power |
| JordanO | 18:266f1ffdc9c4 | 6 | //period in seconds |
| JordanO | 19:07706535ff7b | 7 | //dt the time between measurements, i.o.w. Ticker timing, for velocity calculation |
| JordanO | 18:266f1ffdc9c4 | 8 | //Returns (velocityMotor1, velocityMotor2, countsMotor1[1], countsMotor2[0]) |
| JordanO | 18:266f1ffdc9c4 | 9 | //Velocity in radians/s |