AMiRo-OS

#ifndef AMIRO_LINEFOLLOWING_H

#define AMIRO_LINEFOLLOWING_H

#include <ch.hpp>

#include <amiroosconf.h>

namespace amiro {

class LineFollow

{

public:

  void printSensorData();

  void stableFollow(int vcnl4020Proximity[4], int (&rpmFuzzyCtrl)[2], Global *global);

  float SetPoint = 0x4000; // (0x1800+0x2800) >> 8

  float Kp = 0.001;

  float Ki = 0.00001;

  float Kd = 0.5;

  int accSum = 0;

  float oldError = 0;

  int biggestDiff = 0;

  Global *global;

  LineFollow(Global *global);

  // void calibrateZiegler(float KCrit, int rpmSpeed[2]);

  int followLeftEdge(int rpmSpeed[2]);

  int followRightEdge(int rpmSpeed[2]);

  private:

    int delta();

    int getError();

    int getPidCorrectionSpeed();

    char whiteFlag = 0;

};

} // end of namespace amiro

#endif // AMIRO_LINEFOLLOWING_H