Motor control for robots. More compact, less object-oriented revision.

Dependencies:   FastPWM3 mbed-dev

Fork of Hobbyking_Cheetah_V1 by Ben Katz

Committer:
benkatz
Date:
Wed Aug 30 18:10:27 2017 +0000
Revision:
33:3ab3cce8b44d
Parent:
22:60276ba87ac6
Added firmware version number to debug stream.  Fixed duty cycle mistake

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz22:60276ba87ac6 1#ifndef LOOPS_H
benkatz22:60276ba87ac6 2#define LOOPS_H
benkatz22:60276ba87ac6 3
benkatz22:60276ba87ac6 4#include "structs.h"
benkatz22:60276ba87ac6 5#include "PositionSensor.h"
benkatz22:60276ba87ac6 6
benkatz22:60276ba87ac6 7
benkatz24:58c2d7571207 8void pd1(float p_des, float v_des, float kp, float kd);
benkatz24:58c2d7571207 9void pd2(float p_des, float kp, float kd);
benkatz24:58c2d7571207 10void torque(float t);
benkatz22:60276ba87ac6 11
benkatz22:60276ba87ac6 12#endif