Revision 2330e415 devices/DiWheelDrive/linefollow2.hpp

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devices/DiWheelDrive/linefollow2.hpp
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{
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public:
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  void printSensorData();
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  void followLine(int vcnl4020Proximity[4], Global *global);
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  void followLine(int vcnl4020Proximity[4], int (&rpmFuzzyCtrl)[2], Global *global);
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  float SetPoint = 0x4000; // (0x1800+0x2800) >> 8
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  float Kp = 0.001;
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  float Ki = 0.00001;
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  float Kd = 0.1;
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  float acc_sum = 0;
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  float old_error = 0;
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};


  		




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} // end of namespace amiro


  		












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