Diff: position_controller.h

Revision:

4:4cc455e372c2

Parent:

3:65ae32169b33

--- a/position_controller.h	Sat Sep 15 05:05:27 2018 +0000
+++ b/position_controller.h	Tue Jun 25 08:28:21 2019 +0000
@@ -2,36 +2,36 @@
 #define POSITION_CONTROLLER_H
 
 #include "mbed.h"
-#define M_PI 3.141592653589793238462643383219502884
+const float F_PI = 3.141593f;
 
 class PositionController {
     public :
-        PositionController(double accDistance_, double decDistance_, double initialVelocity_, double terminalVelocity_, float maxVelocity_);
+        PositionController(float accDistance_, float decDistance_, float initialVelocity_, float terminalVelocity_, float maxVelocity_);
 
         void compute(int positionX, int positionY);
         void targetXY(int targetX_, int targetY_);
-        double getVelocityX();
-        double getVelocityY();
+        float getVelocityX();
+        float getVelocityY();
     private :
 
-        double generateSineWave(double x, double initV, double termV, double start, double length);
+        float generateSineWave(float x, float initV, float termV, float start, float length);
 
-        double accDistance;
-        double decDistance;
-        double accTrue;
-        double decTrue;
-        double initialVelocity;
-        double terminalVelocity;
+        float accDistance;
+        float decDistance;
+        float accTrue;
+        float decTrue;
+        float initialVelocity;
+        float terminalVelocity;
         float maxVelocity;
-        double target;
+        float target;
         int targetX;
         int targetY;
-        double radians;
-        double velocity[2];
+        float radians;
+        float velocity[2];
 
         bool enoughDistance;
 
-        double getVelocity(int position);
+        float getVelocity(int position);
 };
 #endif