Tristan Vlogman
Updates error values
Dependents: locomotion_pid_action_refactor_EMG
Diff: errorFetch.h
- Revision:
- 0:cb9eda46a58c
- Child:
- 1:9e2c9237d88b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/errorFetch.h Fri Oct 20 12:24:03 2017 +0000
@@ -0,0 +1,24 @@
+#ifndef ERRORFETCH_H
+#define ERRORFETCH_H
+
+#include "mbed.h"
+#include "QEI.h"
+#include "refGen.h"
+
+class errorFetch {
+public:
+ errorFetch(QEI, float, float, refGen); // 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
+ refGen ref;
+
+private:
+ QEI motorEncoder;
+ const float gearRatio;
+ const float Ts;
+ };
+#endif
\ No newline at end of file