jetfishteam / Mbed 2 deprecated robotic_fish_ver_4_9_pixy

My modifications/additions to the code

Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 Servo fishgait mbed-rtos mbed pixy_cam

Fork of robotic_fish_ver_4_8 by jetfishteam

servoloop.h@25:4f2f441eceec, 2014-07-11 (annotated)

Committer:
sandwich
Date:
Fri Jul 11 14:30:36 2014 +0000
Revision:
25:4f2f441eceec
latest revision

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sandwich 25:4f2f441eceec 1 #pragma once
sandwich 25:4f2f441eceec 2 #include "mbed.h"
sandwich 25:4f2f441eceec 3 //class to aid with vision feedback
sandwich 25:4f2f441eceec 4 //taken from
sandwich 25:4f2f441eceec 5 // https://github.com/charmedlabs/pixy/blob/master/arduino/libraries/Pixy/examples/pantilt/pantilt.ino
sandwich 25:4f2f441eceec 6 #define RCS_MIN_POS 0L
sandwich 25:4f2f441eceec 7 #define RCS_MAX_POS 1000L
sandwich 25:4f2f441eceec 8 #define RCS_CENTER_POS ((RCS_MAX_POS-RCS_MIN_POS)/2)
sandwich 25:4f2f441eceec 9 class ServoLoop
sandwich 25:4f2f441eceec 10 {
sandwich 25:4f2f441eceec 11 public:
sandwich 25:4f2f441eceec 12 ServoLoop(int32_t pgain, int32_t dgain);
sandwich 25:4f2f441eceec 13
sandwich 25:4f2f441eceec 14 void update(int32_t error);
sandwich 25:4f2f441eceec 15
sandwich 25:4f2f441eceec 16 int32_t m_pos;
sandwich 25:4f2f441eceec 17 int32_t m_prevError;
sandwich 25:4f2f441eceec 18 int32_t m_pgain;
sandwich 25:4f2f441eceec 19 int32_t m_dgain;
sandwich 25:4f2f441eceec 20 };