Module 9 Super Team / PIDController1

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Fork of PIDController by Kevin Hetterscheid

Diff: pidControl.h

Revision:
5:937b2f34a1ca
Parent:
2:53d2f9b8fed1
Child:
6:48bb8aa4888b
--- a/pidControl.h	Tue Oct 20 08:35:36 2015 +0000
+++ b/pidControl.h	Tue Oct 20 09:42:24 2015 +0000
@@ -1,26 +1,2 @@
-PinName m1_enc_a = D12;
-PinName m1_enc_b = D13;
-PinName m1_pwm = D6;
-PinName m1_dir = D7;
-
-PinName m2_enc_a = D11;
-PinName m2_enc_b = D10;
-PinName m2_pwm = D5;
-PinName m2_dir = D4;
-
-PinName m2_pot = A0;
-PinName m1_pot = A1;
-
-const double pid_upper_limit = 1, pid_lower_limit = 0;
-
-const double motor1_kp = 0.75f, motor1_ki = 0.001f, motor1_kd = 0.005f;
-const double motor2_kp = 0.75f, motor2_ki = 0.001f, motor2_kd = 0.005f;
-
-const double m1_f_a1 = 1.0, m1_f_a2 = 2.0, m1_f_b0 = 1.0, m1_f_b1 = 3.0, m1_f_b2 = 4.0;
-const double m2_f_a1 = 1.0, m2_f_a2 = 2.0, m2_f_b0 = 1.0, m2_f_b1 = 3.0, m2_f_b2 = 4.0;
-
-int sigPerRev = 4192;
-float tickRate = 0.01f;
-float graphTickRate = 0.01f;
-
-float toRadians(int pulses);
+void initialize();
+int move(double a, double b);
\ No newline at end of file