Tristan Vlogman / refGen

Generates reference based on analog input

Dependents:   locomotion_pid_action_refactor_EMG

refGen.cpp

Committer:
tvlogman
Date:
2017-10-20
Revision:
2:35c05e7698f5
Parent:
0:5c67195a412d
Child:
3:43d9f8db93b7

File content as of revision 2:35c05e7698f5:

#include "refGen.h"
#include "mbed.h"

// Member function definitions
refGen::refGen(PinName a, float maxAngle):refPin(a), maxAngle(maxAngle), r_direction(false){

    }

float refGen :: getReferencePosition(float maxAngle, bool r_direction){
    float r;
    if(r_direction == false){
        // Clockwise rotation yields positive reference
        r = maxAngle*frefPin.read();
        }
    if(r_direction == true){
        // Counterclockwise rotation yields negative reference
        r = -1*maxAngle*refPin.read();
        }
    return r;
    }