File content as of revision 7:62ebacf26446:

#ifndef ENCODER_H
#define ENCODER_H

class Statechart{

public:
    void velocity_control(float duty_cyc, float tuning_const);
    void fallInterrupt();
    void riseInterrupt();
private:
    //Observed average speeds for each duty cycle
    const float TUNING_CONSTANT_20 = 3.00;
    const float TUNING_CONSTANT_30 = 4.30;
    const float TUNING_CONSTANT_50 = 6.880;
    const float PI = 3.14159;
    const float WHEEL_CIRCUMFERENCE = .05*PI;
    
    //Velocity Control Tuning Constants
    const float TUNE_THRESH = 0.5f;
    const float TUNE_AMT = 0.1f;

    //Intervals used during encoder data collection to measure velocity
    int interval1=0;
    int interval2=0;
    int interval3=0;
    int avg_interval=0;
    int lastchange1 = 0;
    int lastchange2 = 0;
    int lastchange3 = 0;
    int lastchange4 = 0;
    
    //Variables used to for velocity control
    float avg_speed = 0;
    float stall_check = 0;
    float tuning_val = 1;
    
    // Servo parameters
    float lastTurnTime = 0.0f;
    bool servoLeft = true;
    
    //Parameters specifying sample sizes and delays for small and large average speed samples
    float num_samples_small = 10.0f;
    float delay_small = 0.05f;
    float num_samples_large = 100.0f;
    float delay_large = 0.1f;
    
    // Large and small arrays used to get average velocity values
    float large_avg_speed_list [100];
    float small_avg_speed_list [10];
    float get_speed();
    float get_avg_speed(float num_samples, float delay);
    
    
    
}