Zürcher Eliteeinheit / Mbed 2 deprecated ROME2_P4

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Dependencies:   ROME2_P2 mbed

Fork of ROME2_P3 by Zürcher Eliteeinheit

Diff: Controller.h

Revision:
4:4428ede9beee
Parent:
1:31b1c5cefd64
--- a/Controller.h	Fri Mar 16 19:44:20 2018 +0000
+++ b/Controller.h	Thu Apr 12 12:19:19 2018 +0000
@@ -27,10 +27,19 @@
         void        setRotationalVelocity(float velocity);
         float       getActualTranslationalVelocity();
         float       getActualRotationalVelocity();
+        void        setX(float x);
+        float       getX();
+        void        setY(float y);
+        float       getY();
+        void        setAlpha(float alpha);
+        float       getAlpha();
         
     private:
         
         static const float  PERIOD;
+        static const float  PI;
+        static const float  WHEEL_DISTANCE;
+        static const float  WHEEL_RADIUS;
         static const float  COUNTS_PER_TURN;
         static const float  LOWPASS_FILTER_FREQUENCY;
         static const float  KN;
@@ -38,9 +47,6 @@
         static const float  MAX_VOLTAGE;
         static const float  MIN_DUTY_CYCLE;
         static const float  MAX_DUTY_CYCLE;
-        static const float  PI;                   // the constant PI
-        static const float  WHEEL_DISTANCE;            // distance between wheels, given in [m]
-        static const float  WHEEL_RADIUS;             // radius of wheels, given in [m]
         
         PwmOut&             pwmLeft;
         PwmOut&             pwmRight;
@@ -60,6 +66,9 @@
         float               desiredSpeedRight;
         float               actualSpeedLeft;
         float               actualSpeedRight;
+        float               x;
+        float               y;
+        float               alpha;
         Ticker              ticker;
         
         void                run();
@@ -67,3 +76,4 @@
 
 #endif /* CONTROLLER_H_ */
 
+