Whose Line is it Anyways / Mbed OS PM2_WLiiA_robot_code

robot code for summer school

Dependencies:   PM2_Libary Eigen

Fork of PM2_Example_Summer_School by Alex Hawkins

Diff: Robot_Library/robot.h

Revision:
56:3fce0a9bb6df
Parent:
49:7da71f479dac
Child:
57:8bf0b5a70065
--- a/Robot_Library/robot.h	Thu May 26 16:33:16 2022 +0200
+++ b/Robot_Library/robot.h	Mon May 30 08:38:03 2022 +0200
@@ -28,9 +28,22 @@
         // Finite state machine functions
         void Initial();
         void Idle();
-        void FollowingLine();
-        void LeftTurn();
-        void RightTurn();
+        void FollowingLine(); // takes in rotational velocity?
+        void LeftTurn_90();
+        void RightTurn_90();
+
+        //PID
+
+        void PID_Move(std::uint8_t s_binary);
+        void PID_Delay(int ms);
+        bool IsSharpTurn(int b);
+
+        const float kP = 0.5f;
+        const float kI = 0.5f;
+        const float kD = 0.5f;
+
+        int previous_error_value;
+        int intergal_error;
 
         //bool motors_enabled;