Jorn Dokter / Mbed 2 deprecated TEB_branch2

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

Diff: motorAndSensorControl.cpp

Revision:
22:4197629a300f
Parent:
21:0a37e3280bbd
Child:
27:71be6e074d0f
diff -r 0a37e3280bbd -r 4197629a300f motorAndSensorControl.cpp
--- a/motorAndSensorControl.cpp	Fri Oct 04 10:07:27 2019 +0000
+++ b/motorAndSensorControl.cpp	Fri Oct 04 10:17:19 2019 +0000
@@ -24,7 +24,7 @@
         const double PI = 3.14159265358979;
         const float countsToRadians = (2*PI)/uniqueMeasurementPoints; //Number of radians per count
 
-float motorAndEncoder(float voltage1, float periodMotor1, float voltage2, float periodMotor2, float dt)
+void motorAndEncoder(float voltage1, float periodMotor1, float voltage2, float periodMotor2, float dt, float &countsMotor1Return, float &countsMotor2Return, float &velocityMotor1Return, float &velocityMotor2Return)
 {
     //Set motors
         //Direction
@@ -64,5 +64,8 @@
             velocityMotor1 = ((countsMotor1[1]-countsMotor1[0])/countsToRadians)/dt; //rad/s
             velocityMotor2 = ((countsMotor2[1]-countsMotor2[0])/countsToRadians)/dt; //rad/s
                
-    return (velocityMotor1, velocityMotor2, countsMotor1[1], countsMotor2[1]);
+    countsMotor1Return = countsMotor1[1];
+    countsMotor2Return = countsMotor2[1];
+    velocityMotor1Return = velocityMotor1;
+    velocityMotor2Return = velocityMotor2;
 }
\ No newline at end of file