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Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: structures.h
- Revision:
- 40:82addb417220
- Parent:
- 33:5e2e95c322da
- Child:
- 49:a9ed4f4cdef7
diff -r 5e2e95c322da -r 82addb417220 structures.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/structures.h Mon Oct 14 11:46:35 2019 +0000
@@ -0,0 +1,38 @@
+#ifndef global_h
+#define global_h
+
+//Structures
+//--Motor data
+ struct motorReturnSub
+ {
+ int counts;
+ float angle;
+ float velocity;
+ };
+
+ struct motorData
+ {
+ motorReturnSub motor1;
+ motorReturnSub motor2;
+ motorReturnSub motor3;
+ };
+//--PID controller settings
+ struct ControllerSettings //Controller settings of the discrete TF
+ {
+ float A;
+ float B;
+ float C;
+ float D;
+ float E;
+ };
+//--Memory of Input/Output
+ struct MemoryIO
+ {
+ float dY; //output, delayed once
+ float ddY; //output, delayed twice
+ float dX; //input, delayed once
+ float ddX; //input, delayed twice
+ };
+
+
+#endif
\ No newline at end of file