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

Dependencies:   FastPWM3 mbed-dev

Fork of Hobbyking_Cheetah_V1 by Ben Katz

loops.h

Committer:
benkatz
Date:
3 weeks ago
Revision:
33:3ab3cce8b44d
Parent:
22:60276ba87ac6

File content as of revision 33:3ab3cce8b44d:

#ifndef LOOPS_H
#define LOOPS_H

#include "structs.h"
#include "PositionSensor.h"


void pd1(float p_des, float v_des, float kp, float kd);
void pd2(float p_des, float kp, float kd);
void torque(float t);

#endif