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Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: header.h
- Revision:
- 37:6602655a80f4
- Parent:
- 35:51914ac2d7f4
diff -r 331907080ffb -r 6602655a80f4 header.h
--- a/header.h Thu Oct 10 14:47:47 2019 +0000
+++ b/header.h Thu Oct 10 15:33:24 2019 +0000
@@ -4,10 +4,11 @@
double ControllerPID(double e, double Ts); //e = error, Ts = sampling time
void motorAndEncoder(float PWM1, float PWM2, float PWM3, float dt);
+ //motorData.motor#.input.PWM sets PWM
//voltage in PWM (between -1 and 1), -1 for negative direction full power, 1 for positive direction full power
- //period in seconds
+ //motorData.dt sets time difference for velocity calculation
//dt the time between measurements, i.o.w. Ticker timing, for velocity calculation
- //Edits motorReturn.motor#.counts/velocity/angle
+ //Output in motorReturn.motor#.output.counts/velocity/angle
#endif
//double ProcessEMG(double X);
\ No newline at end of file