AMiRo-OS

#ifndef AMIRO_LINEFOLLOWING_H

#define AMIRO_LINEFOLLOWING_H

#include <ch.hpp>

#include <amiroosconf.h>

namespace amiro {

class LineFollow

{

public:

  void printSensorData();

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

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

  float Kp = 0.001;

  float Ki = 0.00001;

  float Kd = 0.1;

  float acc_sum = 0;

  float old_error = 0;

};

} // end of namespace amiro

#endif // AMIRO_LINEFOLLOWING_H