GDP 4
car using PID from centre line
Dependencies: FRDM-TFC mbed CBuffer XBEE mbed_angular_speed motor2 MMA8451Q
Fork of
KL25Z_Camera_Test
by 
GDP 4
main.h@13:4e77264f254a, 2016-11-29 (annotated)
- Committer:
- FatCookies
- Date:
- Tue Nov 29 13:11:20 2016 +0000
- Revision:
- 13:4e77264f254a
- Parent:
- 12:da96e2f87465
- Child:
- 17:6ae90788cc2b
add corner detection
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| FatCookies | 12:da96e2f87465 | 1 | |
| FatCookies | 12:da96e2f87465 | 2 | typedef struct { |
| FatCookies | 12:da96e2f87465 | 3 | float Kp; |
| FatCookies | 12:da96e2f87465 | 4 | float Ki; |
| FatCookies | 12:da96e2f87465 | 5 | float Kd; |
| FatCookies | 12:da96e2f87465 | 6 | float dt; |
| FatCookies | 12:da96e2f87465 | 7 | float p_error; |
| FatCookies | 12:da96e2f87465 | 8 | float pid_error; |
| FatCookies | 12:da96e2f87465 | 9 | float integral; |
| FatCookies | 13:4e77264f254a | 10 | |
| FatCookies | 13:4e77264f254a | 11 | //Measured value is a float between -1.0 and 1.0 (from left to right) |
| FatCookies | 13:4e77264f254a | 12 | float measured_value; |
| FatCookies | 13:4e77264f254a | 13 | |
| FatCookies | 13:4e77264f254a | 14 | //Desired value is always 0.0 (as in, car is in the middle of the road) |
| FatCookies | 13:4e77264f254a | 15 | float desired_value; |
| FatCookies | 13:4e77264f254a | 16 | float derivative; |
| FatCookies | 12:da96e2f87465 | 17 | float output; |
| FatCookies | 12:da96e2f87465 | 18 | } pid_instance; |
| FatCookies | 12:da96e2f87465 | 19 |