Diff: LOCOMOTION.h

Revision:

19:5832e34b7533

Parent:

18:f9012e93edb8

Child:

20:1da786e205eb

diff -r f9012e93edb8 -r 5832e34b7533 LOCOMOTION.h
--- a/LOCOMOTION.h	Tue Mar 29 02:12:08 2016 +0000
+++ b/LOCOMOTION.h	Tue Mar 29 21:58:26 2016 +0000
@@ -6,6 +6,14 @@
 
 #define SPEED_TURN_MIN  0.20
 #define SPEED_TURN_MAX  0.65
+#define x_increase 1
+#define x_decrease 2
+#define x_backwards 3
+#define backoff 20
+#define xNearGoal 20
+#define xFarGoal 80
+#define yIncrement 20
+
 
 enum {
     ANGLE_TURN  = 0,
@@ -22,9 +30,14 @@
     PwmOut _m2b;
     DigitalOut _m1dir;
     DigitalOut _m2dir;
+    void setXstate(int *xCurrState, int *xTarget,bool xGood,bool angleGood,int *angleGoal);
+    void setAngleTol(int *angleTol,bool yGood, bool xGood);
+    void setYgoal(bool xGood,bool angleGood,bool yGood,int *yTarget);
+    void adjustY(int XcurrState,int Ytarget);
     bool setXPos(int target, int current, int error, int angle);
     bool setYPos(int target, int current, int error, int angle);
     bool setAngle(int target, int current, int error, int mode);
+    void check_xya(bool *xGood,bool *yGood,bool *angleGood, int xGoal,int angleGoal,int yGoal,LOCALIZE_xya xya,int xErr, int yErr,int angleErr);
     int wrap(int num);
 
 protected: