Diff: src/MotorControl.h

Revision:

5:44b2454a5eea

Parent:

3:4b6080e86761

Child:

6:ed47deb76adf

--- a/src/MotorControl.h	Mon May 31 16:47:02 2021 +0000
+++ b/src/MotorControl.h	Tue Jun 08 15:04:33 2021 +0000
@@ -10,7 +10,6 @@
  * 
  */
  
- #include "mbed.h"
  #include "encoder.h"
  #include "motor.h"
 
@@ -40,7 +39,7 @@
     
     public:
         // Constructor takes encoder pins and constants, and a motor object and contorller gains
-        MotorControl(PinName a, PinName b, PinName i, int r, bool c, double p, motor* m, double ms, double kp, double ti, double ec);
+        MotorControl(PinName a, PinName b, int r, bool c, double p, motor* m, double ms, double kp, double ti, double diameter);
         
         void setSpeed(double s);    // Set the speed of the wheel
         void drive(void);           // Drive at set speet
@@ -48,7 +47,7 @@
         void driveManual(void);     // Drive at set speed in open loop
         void samplecall(void);      // Sample encoder and update read speed value
         void setK(double k);        // Set gain (used for Z-N tuning
-        void start(void);           // This function is overridden to avoid bugs
+        //void start(void);           // This function is overridden to avoid bugs
         double getOutput(void);     // Returns current duty cycle
         bool checkFlag(void);       // Check whether max out flag is set
 };