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

Committer:
sandwich
Date:
2014-07-11
Revision:
25:4f2f441eceec

File content as of revision 25:4f2f441eceec:

#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;
};