MotorControl.h

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#ifndef __MOTORCONTOL_H__
#define __MOTORCONTOL_H__
#include <stdio.h>
#include <stdint.h>
/*****Note to students, feel free to change any or all of this ******/
void MC_Init(void);
 
void MC_PIControlLoop(void);
 
void MC_SetDesiredSpeed(uint32_t newSpeed);
 
uint32_t MC_GetDesiredSpeed(void);
 
void MC_SetKp1(int32_t kp1);
 
void MC_SetKp2(int32_t kp2);
 
void MC_SetKi1(int32_t ki1);
 
void MC_SetKi2(int32_t ki2);
 
int32_t MC_GetKp1(void);
 
int32_t MC_GetKp2(void);
 
int32_t MC_GetKi1(void);
 
int32_t MC_GetKi2(void);
 
int32_t MC_GetLeftE(void);
 
int32_t MC_GetRightE(void);
 
int32_t MC_GetLeftU(void);
 
int32_t MC_GetRightU(void);
 
 uint32_t MC_Time(void); 
 
 #define DUMPSIZE 200
 
 uint32_t *MC_DumpRight(void);
 
uint32_t *MC_DumpLeft(void);
 
#endif