Revision 25388c2f devices/DiWheelDrive/linefollow2.hpp
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], int (&rpmFuzzyCtrl)[2], Global *global);
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void stableFollow(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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float Kd = 0.5 |
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; |
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int accSum = 0; |
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float oldError = 0; |
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}; |
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