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

Diff: servoloop.h

Revision:
25:4f2f441eceec
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/servoloop.h	Fri Jul 11 14:30:36 2014 +0000
@@ -0,0 +1,20 @@
+#pragma once
+#include "mbed.h"
+//class to aid with vision feedback
+//taken from 
+// https://github.com/charmedlabs/pixy/blob/master/arduino/libraries/Pixy/examples/pantilt/pantilt.ino
+#define RCS_MIN_POS     0L
+#define RCS_MAX_POS     1000L
+#define RCS_CENTER_POS  ((RCS_MAX_POS-RCS_MIN_POS)/2)
+class ServoLoop
+{
+public:
+  ServoLoop(int32_t pgain, int32_t dgain);
+
+  void update(int32_t error);
+   
+  int32_t m_pos;
+  int32_t m_prevError;
+  int32_t m_pgain;
+  int32_t m_dgain;
+};
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