Wirtek Robotics Workshop / RWR_Utils

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Diff: RWR_Utils.hxx

Revision:
6:66889ef7193a
Parent:
5:6cd52beadb7c
Child:
7:7eae20ecd038
--- a/RWR_Utils.hxx	Sat Jul 24 14:46:20 2021 +0300
+++ b/RWR_Utils.hxx	Sat Jul 24 22:30:13 2021 +0300
@@ -34,11 +34,12 @@
 #define QTR_THRESHOLD_LOW   (uint32_t) 20000U
 
 // PID parameters
-#define PID_SETPOINT 0.0f
-#define PID_KP 0.6f
-// #define PID_KP 0.25f
-#define PID_KI 0.0f
-#define PID_KD 0.0f
+#define PID_UPDATE_PERIOD_US  1000
+#define PID_SETPOINT          0.0f
+#define PID_KP                0.6f
+// #define PID_KP                0.25f
+#define PID_KI                0.0f
+#define PID_KD                0.0f
 #define NO_LINE_SPEED_MOTOR_A 0.0f
 #define NO_LINE_SPEED_MOTOR_B 1.0f
 
@@ -102,3 +103,16 @@
     AnalogIn (&sensors)[SENSORS_BAR_SIZE];
     uint32_t lastSensorState;
 };
+
+class TimerWrapper
+{
+  public:
+    TimerWrapper(Timer &_timer);
+    int32_t read_ms();
+    int32_t read_us();
+    void reset();
+
+  private:
+    Timer &timer;
+    int32_t lastReset;
+};