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

01_DriveTrain/pidBearing.h

Committer:
ahmed_lv
Date:
2018-03-15
Revision:
26:32eaf3c3ac2e
Child:
27:2db168d9fb18

File content as of revision 26:32eaf3c3ac2e:

#ifndef pidBearing_H
#define pidBearing_H

#include "generalFunctions.h"
#include "mbed.h"
#include "orion_pinmapping.h"
#include "config.h"
#include "math.h"

class pidBearing
{
public:
    //motorDriver(PinName mPlus, PinName mMinus, int freq_khz);
    //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);

private:
    float kp, kd, ki;
    float imuToAchieve, offset, angleToRotate, prevaError, bearingToWaypoint, sumError, max_in, minDist;
};


#endif