Revision bfffb0bd devices/DiWheelDrive/linefollow2.hpp

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devices/DiWheelDrive/linefollow2.hpp
9 9 
  enum class LineFollowStrategy{
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  EDGE_LEFT,
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  EDGE_RIGHT,
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  DOCKING,
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  MIDDLE,
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  FUZZY
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};
......
73 74 

  		




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    char whiteFlag = 0;


  		




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    LineFollowStrategy strategy = LineFollowStrategy::EDGE_RIGHT;


  		




  76
  
  
    
    float Kp = 0.003;


  		




  
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    float Kp = 0.002;


  		




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    float Ki = 0;


  		




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    float Kd = 0;


  		




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    int accumHist = 0;


  		












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