Wataru Nakata / heading hold

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

headingHold.h

Committer:
WAT34
Date:
2017-12-07
Revision:
0:2396598427bf

File content as of revision 0:2396598427bf:

#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 */