hMove and cAngle
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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
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