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Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: header.h
- Revision:
- 19:07706535ff7b
- Parent:
- 18:266f1ffdc9c4
- Child:
- 20:19f7b0d5ec7b
diff -r 266f1ffdc9c4 -r 07706535ff7b header.h
--- a/header.h Thu Oct 03 17:50:52 2019 +0000
+++ b/header.h Fri Oct 04 09:41:14 2019 +0000
@@ -1,10 +1,9 @@
double ControllerPID(double e, double Ts); //e = error, Ts = sampling time
-double motorAndEncoder(voltage1, periodMotor1, voltage2, periodMotor2, directionMotor1, directionMotor2, dt)
- //voltage in PWM (between 0 and 1)
+double motorAndEncoder(voltage1, periodMotor1, voltage2, periodMotor2, dt)
+ //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
- //directionMotor either 1 or 0
+ //dt the time between measurements, i.o.w. Ticker timing, for velocity calculation
//Returns (velocityMotor1, velocityMotor2, countsMotor1[1], countsMotor2[0])
//Velocity in radians/s
\ No newline at end of file