Updates error values
Dependents: locomotion_pid_action_refactor_EMG
errorFetch.h
- Committer:
- tvlogman
- Date:
- 2017-10-22
- Revision:
- 2:d22c458a8a78
- Parent:
- 1:9e2c9237d88b
- Child:
- 3:71a7dd98fb2c
File content as of revision 2:d22c458a8a78:
#ifndef ERRORFETCH_H #define ERRORFETCH_H #include "mbed.h" #include "QEI.h" #include "refGen.h" class errorFetch { public: errorFetch(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 fetchError(int counts, float ref); // Gets reference position on specified pin private: const float gearRatio; const float Ts; }; #endif