File content as of revision 50:283a831f84a9:

#ifndef global_h
#define global_h

//Structures
//--Motor data
    struct motorReturnSub
    {
        int zerocounts;
        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
        void ShiftValues(float CurX, float CurY) //Input: Current X, current Y
        {
            ddY = dY; //Y delayed once to Y delayed twice
            ddX = dX; //X delayed once to X delayed twice 
            dY = CurY; //Current Y to Y delayed once
            dX = CurX; //Current X to X delayed once
        }
    };   


#endif