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
servoloop.h
00001 #pragma once 00002 #include "mbed.h" 00003 //class to aid with vision feedback 00004 //taken from 00005 // https://github.com/charmedlabs/pixy/blob/master/arduino/libraries/Pixy/examples/pantilt/pantilt.ino 00006 #define RCS_MIN_POS 0L 00007 #define RCS_MAX_POS 1000L 00008 #define RCS_CENTER_POS ((RCS_MAX_POS-RCS_MIN_POS)/2) 00009 class ServoLoop 00010 { 00011 public: 00012 ServoLoop(int32_t pgain, int32_t dgain); 00013 00014 void update(int32_t error); 00015 00016 int32_t m_pos; 00017 int32_t m_prevError; 00018 int32_t m_pgain; 00019 int32_t m_dgain; 00020 };
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