Tristan Vlogman / errorFetch

Updates error values

Dependents:   locomotion_pid_action_refactor_EMG

Diff: errorFetch.h

Revision:
1:9e2c9237d88b
Parent:
0:cb9eda46a58c
Child:
2:d22c458a8a78
--- a/errorFetch.h	Fri Oct 20 12:24:03 2017 +0000
+++ b/errorFetch.h	Fri Oct 20 16:29:30 2017 +0000
@@ -7,17 +7,16 @@
 
 class errorFetch {
 public:
-    errorFetch(QEI, float, float, refGen); // Constructor sets up the pin to read the reference from
+    errorFetch(refGen, float, float); // Constructor sets up the pin to read the reference from
     volatile float e_pos;
     volatile float e_int;
     volatile float e_der;
     volatile float e_prev;
     
-    void getError(); // Gets reference position on specified pin
+    void fetchError(int counts); // Gets reference position on specified pin
     refGen ref;
     
 private:
-    QEI motorEncoder;
     const float gearRatio;
     const float Ts;
     };