Revision 12463563 devices/DiWheelDrive/linefollow2.cpp

View differences:

devices/DiWheelDrive/linefollow2.cpp
7 7 
    chprintf((BaseSequentialStream*) &SD1, "Test!");
8 8 
}
9 9 

  		




  
  10
  
    
LineFollow::LineFollow(Global *global){


  		




  
  11
  
    
    this->global = global;


  		




  
  12
  
    
}


  		




  
  13
  
    

  		




  10
  14
  
    
// void LineFollow::followLine(int vcnl4020Proximity[4], int (&rpmFuzzyCtrl)[2], Global *global){


  		




  11
  15
  
    
    


  		




  12
  16
  
    
//     chprintf((BaseSequentialStream*) &SD1, "SP: %d,\n", SetPoint);


  		




  ......




  80
  84
  
    

  		




  81
  85
  
    
}


  		




  82
  86
  
    

  		




  
  87
  
    
int calculateError(){


  		




  
  88
  
    
    


  		




  
  89
  
    
}


  		




  
  90
  
    

  		




  
  91
  
    
void calibrateZiegler(int (&rpmFuzzyCtrl)[2], Global *global){


  		




  
  92
  
    

  		




  
  93
  
    
}


  		




  83
  94
  
    

  		




  84
  95
  
    
// void LineFollow::followLineSeperateSensors2(int vcnl4020Proximity[4], int (&rpmFuzzyCtrl)[2], Global *global){


  		




  85
  96
  
    
    


  		












Also available in:  Unified diff