James MacLean / Robot_Control

The subsystem design/basis for the final project

Dependencies:   mbed-rtos mbed-src pixylib

robot.h

Committer:
balsamfir
Date:
2016-03-25
Revision:
5:f655435d0782
Parent:
3:dfb6733ae397
Child:
6:52686c25e4af

File content as of revision 5:f655435d0782:

// ----------------------------------------------------------------
// 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 RunMotor(void);
void RunNavigation(void);