Diff: robot.h

Revision:

5:f655435d0782

Parent:

3:dfb6733ae397

Child:

6:52686c25e4af

--- a/robot.h	Fri Mar 18 17:05:22 2016 +0000
+++ b/robot.h	Fri Mar 25 13:36:14 2016 +0000
@@ -2,14 +2,22 @@
 // Used to control the robot system
 // ----------------------------------------------------------------
 
+#define X_SETPOINT 160
+#define HEIGHT_SETPOINT 100
+
+// Global Variables
+// ----------------------------------------------------------------
+extern static float leftMotor, rightMotor;
+extern int xTracked, heightTracked;
+extern float speed, steering;
+
+// PI internal variables (TODO: move to object)
+float steeringIntegral, speedIntegral; 
+float leftMotorIntegral, rightMotorIntegral; 
+
+// Function Prototypes
+// ----------------------------------------------------------------
 void AutoTrack(void);
 void ManualControl(void);
-void PixySubsystem(void);
-
-// Function prototypes
-void MotorISR(void);
-void NavigationISR(void);
-void CollisionISR(void);
-void WatchdogISR(void const *n);
-void MotorThread(void const *argument);
-void NavigationThread(void const *argument);
\ No newline at end of file
+void RunMotor(void);
+void RunNavigation(void);