Tristan Vlogman / errorFetch

Updates error values

Dependents:   locomotion_pid_action_refactor_EMG

errorFetch.h@4:2af658a4e54b, 2017-10-26 (annotated)

Committer:
tvlogman
Date:
Thu Oct 26 14:02:01 2017 +0000
Revision:
4:2af658a4e54b
Parent:
3:71a7dd98fb2c 
changed so it has a seperate fetchMotorPosition function

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
tvlogman 0:cb9eda46a58c 7 class errorFetch {
tvlogman 0:cb9eda46a58c 8 public:
tvlogman 2:d22c458a8a78 9 errorFetch(float, float); // Constructor sets up the pin to read the reference from
tvlogman 0:cb9eda46a58c 10 volatile float e_pos;
tvlogman 0:cb9eda46a58c 11 volatile float e_int;
tvlogman 0:cb9eda46a58c 12 volatile float e_der;
tvlogman 0:cb9eda46a58c 13 volatile float e_prev;
tvlogman 0:cb9eda46a58c 14
tvlogman 4:2af658a4e54b 15 double fetchMotorPosition(int counts);
tvlogman 4:2af658a4e54b 16 void fetchError(double motorPosition, double 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