amiro-os / devices / DiWheelDrive / linefollow2.hpp @ 25388c2f
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| 1 | c76baf23 | Georg Alberding | #ifndef AMIRO_LINEFOLLOWING_H
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| 2 | #define AMIRO_LINEFOLLOWING_H
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| 3 | |||
| 4 | #include <ch.hpp> |
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| 5 | |||
| 6 | #include <amiroosconf.h> |
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| 7 | |||
| 8 | namespace amiro {
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| 9 | |||
| 10 | class LineFollow |
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| 11 | {
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| 12 | public:
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| 13 | void printSensorData();
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| 14 | 25388c2f | Georg Alberding | void stableFollow(int vcnl4020Proximity[4], int (&rpmFuzzyCtrl)[2], Global *global); |
| 15 | 2330e415 | Georg Alberding | float SetPoint = 0x4000; // (0x1800+0x2800) >> 8 |
| 16 | float Kp = 0.001; |
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| 17 | float Ki = 0.00001; |
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| 18 | 25388c2f | Georg Alberding | float Kd = 0.5 |
| 19 | ; |
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| 20 | int accSum = 0; |
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| 21 | float oldError = 0; |
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| 22 | 2330e415 | Georg Alberding | |
| 23 | c76baf23 | Georg Alberding | }; |
| 24 | |||
| 25 | } // end of namespace amiro
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| 26 | |||
| 27 | #endif // AMIRO_LINEFOLLOWING_H |