PES2_R2D2.0 / Mbed 2 deprecated MicroMouse_MASTER_FOUR

Pathfinding nach rechts funktioniert noch nicht...der rest schon

Dependencies:   mbed

Fork of MicroMouse_MASTER_THREE by PES2_R2D2.0

Diff: Controller.h

Revision:
1:d9e840c48b1e
Parent:
0:a9fe4ef404bf
Child:
5:b8b1a979b0d5
--- a/Controller.h	Wed Mar 07 14:06:19 2018 +0000
+++ b/Controller.h	Sat Mar 31 16:45:57 2018 +0000
@@ -16,6 +16,12 @@
     virtual ~Controller();
     void setDesiredSpeedLeft(float desiredSpeedLeft);
     void setDesiredSpeedRight(float desiredSpeedRight);
+    float getSpeedLeft();
+    float getSpeedRight();
+    float getIntegralLeft();
+    float getIntegralRight();
+    float getProportionalLeft();
+    float getProportionalRight();
 
 private:
 
@@ -24,6 +30,8 @@
     static const float LOWPASS_FILTER_FREQUENCY;
     static const float KN;
     static const float KP;
+    static const float KI;
+    static const float I_MAX;
     static const float MAX_VOLTAGE;
     static const float MIN_DUTY_CYCLE;
     static const float MAX_DUTY_CYCLE;
@@ -40,8 +48,10 @@
     float              desiredSpeedRight;
     float              actualSpeedLeft;
     float              actualSpeedRight;
+    float              iSumLeft;
+    float              iSumRight;
     Ticker             ticker;
-    
+
     void               run();
 
 };