Wataru Nakata / heading hold

Robot's heading hold program using PID of input from sensor and output to motors

headingHold.h@0:2396598427bf, 2017-12-07 (annotated)

Committer:
WAT34
Date:
Thu Dec 07 00:54:11 2017 +0900
Revision:
0:2396598427bf
initial commit

Who changed what in which revision?

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WAT34 0:2396598427bf 1 #ifndef HEADING_HOLD_H
WAT34 0:2396598427bf 2 #define HEADING_HOLD_H
WAT34 0:2396598427bf 3 #include "mbed.h"
WAT34 0:2396598427bf 4 #include "PID.h"
WAT34 0:2396598427bf 5
WAT34 0:2396598427bf 6 class headingHold {
WAT34 0:2396598427bf 7 private:
WAT34 0:2396598427bf 8 bool holding;
WAT34 0:2396598427bf 9 float currentHeading;
WAT34 0:2396598427bf 10 float targetHeading;
WAT34 0:2396598427bf 11 PID headingPID;
WAT34 0:2396598427bf 12
WAT34 0:2396598427bf 13 public:
WAT34 0:2396598427bf 14 headingHold (double p,double i,double d);
WAT34 0:2396598427bf 15 bool setHeadingHold(const bool& hold);
WAT34 0:2396598427bf 16 bool setCurrentHeading(const double& heading);
WAT34 0:2396598427bf 17 bool setTargetHeading(const double& target);
WAT34 0:2396598427bf 18 double getOutput();
WAT34 0:2396598427bf 19
WAT34 0:2396598427bf 20 };
WAT34 0:2396598427bf 21
WAT34 0:2396598427bf 22
WAT34 0:2396598427bf 23 #endif /* end of include guard: HEADING_HOLD_H */