Wataru Nakata
Robot's heading hold program using PID of input from sensor and output to motors
Diff: headingHold.h
- Revision:
- 0:2396598427bf
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/headingHold.h Thu Dec 07 00:54:11 2017 +0900
@@ -0,0 +1,23 @@
+#ifndef HEADING_HOLD_H
+#define HEADING_HOLD_H
+#include "mbed.h"
+#include "PID.h"
+
+class headingHold {
+private:
+ bool holding;
+ float currentHeading;
+ float targetHeading;
+ PID headingPID;
+
+public:
+ headingHold (double p,double i,double d);
+ bool setHeadingHold(const bool& hold);
+ bool setCurrentHeading(const double& heading);
+ bool setTargetHeading(const double& target);
+ double getOutput();
+
+};
+
+
+#endif /* end of include guard: HEADING_HOLD_H */