Diff: SpeedController.h

Revision:

6:41dd03654c44

Parent:

5:6cd242a61e4c

--- a/SpeedController.h	Tue Apr 06 12:19:29 2021 +0000
+++ b/SpeedController.h	Wed Apr 07 12:13:45 2021 +0000
@@ -11,7 +11,8 @@
 {
 public:
 
-    SpeedController(float COUNTS_PER_TURN, float KN, float KP, float MAX_VOLTAGE, FastPWM& pwm, EncoderCounter& encoderCounter);
+    SpeedController(float counts_per_turn, float kn, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
+    SpeedController(float counts_per_turn, float kn, float kp, float max_voltage, FastPWM& pwm, EncoderCounter& encoderCounter);
 
     virtual ~SpeedController();
 
@@ -22,19 +23,15 @@
 
 private:
 
-    static const float PERIOD;
-    // static const float COUNTS_PER_TURN;
+    static const float TS;
     static const float LOWPASS_FILTER_FREQUENCY;
-    // static const float KN;
-    // static const float KP;
-    // static const float MAX_VOLTAGE;
     static const float MIN_DUTY_CYCLE;
     static const float MAX_DUTY_CYCLE;
 
-    float COUNTS_PER_TURN;
-    float KN;
-    float KP;
-    float MAX_VOLTAGE;
+    float counts_per_turn;
+    float kn;
+    float kp;
+    float max_voltage;
 
     FastPWM&           pwm;
     EncoderCounter&    encoderCounter;
@@ -48,8 +45,8 @@
     Thread             thread;
     Ticker             ticker;
 
+    void               run();
     void               sendThreadFlag();
-    void               run();
 };
 
 #endif /* SpeedController_H_ */
\ No newline at end of file