Diff: LOCOMOTION.h

Revision:

27:fb1298d35bd1

Parent:

26:0ea6a550a99d

Child:

29:e8ef4a2e628d

--- a/LOCOMOTION.h	Wed Apr 06 04:04:00 2016 +0000
+++ b/LOCOMOTION.h	Wed Apr 13 03:14:43 2016 +0000
@@ -3,13 +3,16 @@
  
 #include "mbed.h"
 #include "LOCALIZE.h"
+#include "math.h"
  
-#define SPEED_TURN_MIN  0.15
-#define SPEED_TURN_MAX  0.45
+#define SPEED_TURN_MIN  0.25//0.15
+#define SPEED_TURN_MAX  0.50//0.45
 #define Y_BIAS_MIN      0.50
 #define Y_BIAS_MAX      1.00
 #define SPEED_X_MIN     0.07
 #define SPEED_X_MAX     0.17
+#define GAIN_GRAVITY    0.7
+#define M_PI            3.1415926535897932384
  
 #define X_INCREASE 1
 #define X_DECREASE 2
@@ -51,11 +54,15 @@
     void setAngleTol(int *angleTol,bool yGood, bool xGood);
     void setYgoal(bool xGood,bool angleGood,bool yGood,int *yTarget);
     void check_xya(bool *xGood,bool *yGood,bool *angleGood, int xGoal,int angleGoal,int yGoal,LOCALIZE_xya xya,int xErr, int yErr,int angleErr);
- 
+    void moveF(int angle);
+    void moveB(void);
+    
 protected:
     float s;
     void setMotors(float x);
+    void setMotors12(float x, float y);
     int wrap(int num);
+    inline float compG(float speed, bool dir, int angle);
     
 };
 #endif
\ No newline at end of file