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Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: header.h
- Revision:
- 22:4197629a300f
- Parent:
- 21:0a37e3280bbd
- Child:
- 23:767911637f3a
diff -r 0a37e3280bbd -r 4197629a300f header.h
--- a/header.h Fri Oct 04 10:07:27 2019 +0000
+++ b/header.h Fri Oct 04 10:17:19 2019 +0000
@@ -1,7 +1,7 @@
double ControllerPID(double e, double Ts); //e = error, Ts = sampling time
-double motorAndEncoder(float voltage1, float periodMotor1, float voltage2, float periodMotor2, float dt);
+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