Generates reference based on analog input
Dependents: locomotion_pid_action_refactor_EMG
Diff: refGen.cpp
- Revision:
- 0:5c67195a412d
- Child:
- 2:35c05e7698f5
diff -r 000000000000 -r 5c67195a412d refGen.cpp --- /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; + } \ No newline at end of file