// -------------------------------------------
// called from main()
void pidSetup()
{
int i;
for(i = 0; i < NUM_PIDS; i++){
initPIDObjPos( &(pidObjs[i]), DEFAULT_KP, DEFAULT_KI, DEFAULT_KD, DEFAULT_KAW, DEFAULT_FF);
}
initPIDVelProfile();
SetupTimer1(); // main interrupt used for leg motor PID
// returns pointer to queue with 8 move entries
moveq = mqInit(8);
idleMove = malloc(sizeof(moveCmdStruct));
idleMove->inputL = 0;
idleMove->inputR = 0;
idleMove->duration = 0;
currentMove = idleMove;
manualMove = malloc(sizeof(moveCmdStruct));
manualMove->inputL = 0;
manualMove->inputR = 0;
manualMove->duration = 0;
lastMoveTime = 0;
// initialize PID structures before starting Timer1
pidSetInput(0,0,0);
pidSetInput(1,0,0);
EnableIntT1; // turn on pid interrupts
calibBatteryOffset(100);
}
// -------------------------------------------
// called from main()
void pidSetup()
{
int i;
for(i = 0; i < NUM_PIDS; i++){
initPIDObjPos( &(pidObjs[i]), DEFAULT_KP, DEFAULT_KI, DEFAULT_KD, DEFAULT_KAW, DEFAULT_FF);
}
initPIDVelProfile();
SetupTimer1(); // main interrupt used for leg motor PID
lastMoveTime = 0;
// initialize PID structures before starting Timer1
pidSetInput(0,0);
pidSetInput(1,0);
EnableIntT1; // turn on pid interrupts
calibBatteryOffset(100); //???This is broken for 2.5
}
