gyro.h

00001 #ifndef GYRO_H
00002 #define GYRO_H
00003 
00004 #include "mbed.h"
00005 
00006 class gyro
00007 {
00008 public:
00009     gyro(){}
00010     gyro(int num);
00011     void setRad(int num,double rad);
00012     double hMove(double way, int num);
00013     void setIdeal(double angle);
00014     double cAngle(double angle);
00015     double pAngle(double angle, double k);
00016     void limitPower(double limit);
00017     void setErrorRange(double range);
00018     double lFunc(double num,double gain);
00019 //    double slowIdeal(double changed);
00020 private:
00021     double* wheelRad;
00022     double ideal;
00023     double toChange;
00024     double changed;
00025     double rVal;
00026     double _limit;
00027     double redVal;
00028     double angled;
00029     double absLimit;
00030     double errorRange;
00031     double rFunc;
00032 //    double stepwise;
00033 //    double rIdeal;
00034 //    bool checkStep;
00035 };
00036 #endif