Team Virgo v3 / Orion_newPCB_test_LV

Implement new controller

Dependencies:   mbed-rtos mbed QEI BNO055 MPU6050_DMP_Nucleo-I2Cdev virgo3_imuHandler_Orion_PCB MAX17048 Servo

Fork of Orion_newPCB_test by Team Virgo v3

Diff: 01_DriveTrain/pidBearing.h

Revision:
29:a6a812ee83ea
Parent:
27:2db168d9fb18
--- a/01_DriveTrain/pidBearing.h	Mon Mar 19 04:06:32 2018 +0000
+++ b/01_DriveTrain/pidBearing.h	Tue Mar 20 03:47:56 2018 +0000
@@ -14,7 +14,15 @@
     //void setPWM(float val);
     
     pidBearing();
-    void setSpeedChange(float* wl, float* wr, float* speedChange, float* aError, float x2, float y2, float x1, float y1, float yaw, float distanceToTravel, float xx, float yy, float* k3, float lGain);
+    void setSpeedChange(float* wl, float* wr, float* speedChange, float* Error, 
+                                float target[2], 
+                                float local[2],
+                                float yaw, 
+                                float* robotFrame, 
+                                float xx, float yy, 
+                                float* k3,
+                                float lGain);                                
+    void pidBearing::findRobotFrameDistance(float target[2], float local[2], float* robotFrame); 
 
 private:
     float kp, kd, ki;