Revision 22b85da1 devices/DiWheelDrive/linefollow2.hpp

View differences:

devices/DiWheelDrive/linefollow2.hpp
15 15 
  float SetPoint = 0x4000; // (0x1800+0x2800) >> 8
16 16 
  float Kp = 0.001;
17 17 
  float Ki = 0.00001;
18 
  float Kd = 0.5
19 
  ;
18 
  float Kd = 0.5;
20 19 
  int accSum = 0;
21 20 
  float oldError = 0;
22 21 
  int biggestDiff = 0;
23 22 
  Global *global;
24 23 
  LineFollow(Global *global);
25 
  void calibrateZiegler(float KCrit, int rpmSpeed[2]);
24 
  // void calibrateZiegler(float KCrit, int rpmSpeed[2]);
25 
  int followLeftEdge(int rpmSpeed[2]);
26 
  int followRightEdge(int rpmSpeed[2]);
26 27 

  		




  27
  28
  
    
  private:


  		




  28
  29
  
    
    int delta();


  		




  
  30
  
    
    int getError();


  		




  
  31
  
    
    int getPidCorrectionSpeed();


  		




  
  32
  
    

  		




  
  33
  
    
    char whiteFlag = 0;


  		




  
  34
  
    
    


  		




  29
  35
  
    

  		




  30
  36
  
    
};


  		




  31
  37
  
    

  		












Also available in:  Unified diff