PositionControl.h

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#ifndef POSITION_CONTROL_H_
#define POSITION_CONTROL_H_

typedef struct {
    int Enew;   
    int Eold;   
    int Eint;   
    int Edot;   
    int desired;
    int actual; 
    int raw;    
    int u;      
} control_error; // Define data structure containing control data

extern void MotorTimerInit(void);

extern void Timer1IntHandler(void);

void set_position_gains(void);

void get_position_gains(void);

int get_desired_angle(int motor);

void set_desired_angle(int angle, int motor);

void reset_pos(void);

void reset_controller_error(void);


void load_position_trajectory(int motor);

void PID_Controller(int reference, int actual, int motor);

int decog_motor(int x, int motor);

void setDecogging(void);

#endif /* POSITION_CONTROL_H_ */