Tristan Vlogman
Generates reference based on analog input
Dependents: locomotion_pid_action_refactor_EMG
Diff: refGen.cpp
- Revision:
- 0:5c67195a412d
- Child:
- 2:35c05e7698f5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/refGen.cpp Mon Oct 16 08:44:22 2017 +0000
@@ -0,0 +1,20 @@
+#include "refGen.h"
+#include "mbed.h"
+
+// Member function definitions
+refGen::refGen(PinName a):refPin(a){
+
+ }
+
+float refGen :: getReferencePosition(float maxAngle, bool r_direction){
+ float r;
+ if(r_direction == false){
+ // Clockwise rotation yields positive reference
+ r = maxAngle*refPin.read();
+ }
+ if(r_direction == true){
+ // Counterclockwise rotation yields negative reference
+ r = -1*maxAngle*refPin.read();
+ }
+ return r;
+ }
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