Fabian van Hummel / Mbed 2 deprecated Robot_control_v3

biorobotics group 19 , 2 november

Dependencies:   HIDScope MODSERIAL PID QEI SigInterpreternovember2 biquadFilter mbed

Fork of Robot_controlv2 by Fabian van Hummel

Diff: Controller.h

Revision:
0:d935ea6f5c25
Child:
1:b9005f2aabf5
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Controller.h	Fri Oct 21 09:13:53 2016 +0000
@@ -0,0 +1,33 @@
+InterruptIn calibrateButton(D2);
+int x = 0; // pulses 
+int x_max; // ???physically measure
+int y = 0;
+int y_max; // ???
+double rMax; // calibrate maxpower..
+double lMax;
+double uMax;
+double dMax;
+float RATE; // ???
+float motorValueHor = 0;
+float motorValueVer = 0;
+
+float maxHorVel = 1.0f; // 1 cm/sec
+float maxVerVel = 1.0f; // 1cm/sec
+
+
+int prevX = 0;
+int prevY = 0;
+
+void calibrate();
+void run();
+double toMotorValue(double,double);
+void emergencyExit();
+void motorOutput(double, bool);
+
+SigInterpreter signal = SigInterpreter();
+MyMotor motor = MyMotor();
+PulseChecker pulses =  PulseChecker();
+
+Ticker motorControl;
+void setFlag();
+bool flag = true;