Revision 753ccd04 include/amiro/MotorControl.h
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namespace amiro {
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struct motorGains |
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{
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int pGain = 0; |
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float iGain = 0.0; |
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float dGain = 0.0; |
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}; |
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class MotorControl : public chibios_rt::BaseStaticThread<512> {
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public: |
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/** |
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*/ |
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void resetGains(); |
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void setGains(motorGains *motorConfig); |
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void getGains(motorGains *motorConfig); |
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void setMotorEnable(bool enable); |
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bool getMotorEnable(); |
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void toggleMotorEnable(); |
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protected: |
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virtual msg_t main(void); |
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bool startedZieglerCalibration = false; |
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bool startedWheelCalibration = false; |
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bool motorCalibration = true; |
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bool motorEnable = true; |
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