Updates error values
Dependents: locomotion_pid_action_refactor_EMG
Diff: errorFetch.h
- Revision:
- 1:9e2c9237d88b
- Parent:
- 0:cb9eda46a58c
- Child:
- 2:d22c458a8a78
diff -r cb9eda46a58c -r 9e2c9237d88b errorFetch.h --- 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; };