Ben Katz / Hobbyking_Cheetah_Compact

Motor control for robots. More compact, less object-oriented revision.

Dependencies:   FastPWM3 mbed

Fork of Hobbyking_Cheetah_V1 by Ben Katz

Committer:
benkatz
Date:
Mon May 01 15:22:58 2017 +0000
Revision:
26:2b865c00d7e9
Parent:
22:60276ba87ac6
- Added CAN Send/Receive; - Updated to most recent MBED (Broke SPI 16-bit read/write.  Hacked to work with 2 8-bit writes now); - Removed most sine/cos calculations; - Fixed sign error in autocalibration routine

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz22:60276ba87ac6 1#ifndef LOOPS_H
benkatz22:60276ba87ac6 2#define LOOPS_H
benkatz22:60276ba87ac6 3
benkatz22:60276ba87ac6 4#include "structs.h"
benkatz22:60276ba87ac6 5#include "PositionSensor.h"
benkatz22:60276ba87ac6 6
benkatz22:60276ba87ac6 7
benkatz24:58c2d7571207 8void pd1(float p_des, float v_des, float kp, float kd);
benkatz24:58c2d7571207 9void pd2(float p_des, float kp, float kd);
benkatz24:58c2d7571207 10void torque(float t);
benkatz22:60276ba87ac6 11
benkatz22:60276ba87ac6 12#endif