Tristan Vlogman / errorFetch

Updates error values

Dependents:   locomotion_pid_action_refactor_EMG

errorFetch.h@2:d22c458a8a78, 2017-10-22 (annotated)

Committer:
tvlogman
Date:
Sun Oct 22 07:56:59 2017 +0000
Revision:
2:d22c458a8a78
Parent:
1:9e2c9237d88b
Child:
3:71a7dd98fb2c
Changed errorFetch: now it takes a reference value as an argument instead of a refGen object. This to seperate concerns.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tvlogman 0:cb9eda46a58c 1 #ifndef ERRORFETCH_H
tvlogman 0:cb9eda46a58c 2 #define ERRORFETCH_H
tvlogman 0:cb9eda46a58c 3
tvlogman 0:cb9eda46a58c 4 #include "mbed.h"
tvlogman 0:cb9eda46a58c 5 #include "QEI.h"
tvlogman 0:cb9eda46a58c 6 #include "refGen.h"
tvlogman 0:cb9eda46a58c 7
tvlogman 0:cb9eda46a58c 8 class errorFetch {
tvlogman 0:cb9eda46a58c 9 public:
tvlogman 2:d22c458a8a78 10 errorFetch(float, float); // Constructor sets up the pin to read the reference from
tvlogman 0:cb9eda46a58c 11 volatile float e_pos;
tvlogman 0:cb9eda46a58c 12 volatile float e_int;
tvlogman 0:cb9eda46a58c 13 volatile float e_der;
tvlogman 0:cb9eda46a58c 14 volatile float e_prev;
tvlogman 0:cb9eda46a58c 15
tvlogman 2:d22c458a8a78 16 void fetchError(int counts, float ref); // Gets reference position on specified pin
tvlogman 0:cb9eda46a58c 17
tvlogman 0:cb9eda46a58c 18 private:
tvlogman 0:cb9eda46a58c 19 const float gearRatio;
tvlogman 0:cb9eda46a58c 20 const float Ts;
tvlogman 0:cb9eda46a58c 21 };
tvlogman 0:cb9eda46a58c 22 #endif