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

Controller.h

Committer:
fabian101
Date:
2016-10-21
Revision:
0:d935ea6f5c25
Child:
1:b9005f2aabf5

File content as of revision 0:d935ea6f5c25:

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;