Diff: controller.h

Revision:

12:8295c02d740f

Parent:

7:a80cb6b06320

Child:

18:1c9dc6caab9d

--- a/controller.h	Wed Nov 02 16:29:13 2016 +0000
+++ b/controller.h	Thu Nov 03 13:08:44 2016 +0000
@@ -1,5 +1,20 @@
 #include "robot.h"
 
+// Maximum y value the roller can reach
+//const float maxY = h + 0.5 * d + 0.5 * reach;
+// Minimum y value the roller can reach
+//const float minY = h + 0.5 * d - 0.5 * reach;
+// Max x value for which the robot can paint a straight line
+//const float maxX = 
+// Min x value for which the robot can paint a straight line
+//const float minX = L_min;
+
+const float topY = h + 0.5 * d + 0.3 * reach;
+const float topX = 35;
+
+const float bottomY = h + 0.5 * d - 0.3 * reach;
+const float bottomX = 35;
+
 class RobotController {
     private:
         // Robot
@@ -9,17 +24,30 @@
         // Ticker
         Ticker ticker;
         // Controllers
+        // -- Controls direct movement for the upper arm
         PIDController upperArmController;
+        // -- Controls direct movement for the lower arm
         PIDController lowerArmController;
+        // -- Controls the velocity at which the upper arm compensates for the dx induced by the lower arm
+        PIDController upperXController;
+        // -- Controls the velocity at which the lower arm compensates for the dx induced by the upper arm
+        PIDController lowerXController;
+        
         // Reference arm lengths
         volatile float upperArmLengthReference;
         volatile float lowerArmLengthReference;
+        // Reference coordinates for straight movement
+        volatile float referenceX;
+        volatile float referenceY;
         
         // Control state flags
         volatile bool MOVE_BY_REFERENCE;
         volatile bool PAINT_MOVE_UP;
         volatile bool PAINT_MOVE_DOWN;
         
+        // Set all flags to false
+        void clearFlags();
+        
         void doTick();
         
     public:
@@ -43,7 +71,7 @@
         float getUpperArmLength();
         float getLowerArmLength();
         
-        // Get the robot object
+        // Get the robot instance
         Robot* getRobot();
     
 };