Diff: main.cpp

Revision:

24:8e38cc14150c

Parent:

23:cc06a8226f72

Child:

26:353a80179346

--- a/main.cpp	Sun Sep 06 23:02:48 2015 +0000
+++ b/main.cpp	Thu Sep 10 00:09:31 2015 +0000
@@ -185,6 +185,7 @@
 }
 
 
+
 void printStateIMU() {
      //pc.printf("IMU_Y: %s, IMU_P: %s, IMU_R: %s\n",IMU_Y.c_str(), IMU_P.c_str(), IMU_R.c_str());
      pc.printf("D_IMU_Y: %f, D_IMU_P: %f, D_IMU_R: %f\n",D_IMU_Y, D_IMU_P, D_IMU_R);                  
@@ -274,6 +275,17 @@
     led4= !led4;
 }
 
+
+
+void update_controller() {
+    /*Input:  angle(deg) difference between heading from IMU and path point航向与目的点之间的夹角   
+              distance(meter) to the next path point
+      
+      Function: drive two servos to navigate the sailboat to the desired path point
+    */
+    
+}
+
 void set_servo_position(Servo targetServo, float angleDeg, float minDeg, float minNorVal, float maxDeg, float maxNorVal){
     /*angleDeg:  desired angle
       minDeg:    minimum angle in degrees