Jonathan Goret / Servoloop

Majordhome/pixy

Dependents:   pixyMajordhome

Servoloop.h@0:b12a5af91608, 2015-04-13 (annotated)

Committer:
johnylafleur
Date:
Mon Apr 13 12:16:51 2015 +0000
Revision:
0:b12a5af91608
Majordhome/pixy;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
johnylafleur 0:b12a5af91608 1 //==========================================================================
johnylafleur 0:b12a5af91608 2 //
johnylafleur 0:b12a5af91608 3 // Pixy Pet Robot
johnylafleur 0:b12a5af91608 4 //
johnylafleur 0:b12a5af91608 5 // Adafruit invests time and resources providing this open source code,
johnylafleur 0:b12a5af91608 6 // please support Adafruit and open-source hardware by purchasing
johnylafleur 0:b12a5af91608 7 // products from Adafruit!
johnylafleur 0:b12a5af91608 8 //
johnylafleur 0:b12a5af91608 9 // Written by: Bill Earl for Adafruit Industries
johnylafleur 0:b12a5af91608 10 //
johnylafleur 0:b12a5af91608 11 //==========================================================================
johnylafleur 0:b12a5af91608 12 // begin license header
johnylafleur 0:b12a5af91608 13 //
johnylafleur 0:b12a5af91608 14 // All Pixy Pet source code is provided under the terms of the
johnylafleur 0:b12a5af91608 15 // GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
johnylafleur 0:b12a5af91608 16 //
johnylafleur 0:b12a5af91608 17 // end license header
johnylafleur 0:b12a5af91608 18 //
johnylafleur 0:b12a5af91608 19 //==========================================================================
johnylafleur 0:b12a5af91608 20 //
johnylafleur 0:b12a5af91608 21 // Portions of this code are derived from the Pixy CMUcam5 pantilt example code.
johnylafleur 0:b12a5af91608 22 //
johnylafleur 0:b12a5af91608 23 //==========================================================================
johnylafleur 0:b12a5af91608 24 #ifndef SERVOLOOP_H
johnylafleur 0:b12a5af91608 25 #define SERVOLOOP_H
johnylafleur 0:b12a5af91608 26 #include <SPI.h>
johnylafleur 0:b12a5af91608 27 #include <Pixy.h>
johnylafleur 0:b12a5af91608 28 #include <MD25.h>
johnylafleur 0:b12a5af91608 29
johnylafleur 0:b12a5af91608 30
johnylafleur 0:b12a5af91608 31 #define X_CENTER 160L
johnylafleur 0:b12a5af91608 32 #define Y_CENTER 100L
johnylafleur 0:b12a5af91608 33 #define RCS_MIN_POS 0L
johnylafleur 0:b12a5af91608 34 #define RCS_MAX_POS 1000L
johnylafleur 0:b12a5af91608 35 #define RCS_CENTER_POS ((RCS_MAX_POS-RCS_MIN_POS)/2)
johnylafleur 0:b12a5af91608 36 //---------------------------------------
johnylafleur 0:b12a5af91608 37 // Servo Loop Class
johnylafleur 0:b12a5af91608 38 // A Proportional/Derivative feedback
johnylafleur 0:b12a5af91608 39 // loop for pan/tilt servo tracking of
johnylafleur 0:b12a5af91608 40 // blocks.
johnylafleur 0:b12a5af91608 41 // (Based on Pixy CMUcam5 example code)
johnylafleur 0:b12a5af91608 42 //---------------------------------------
johnylafleur 0:b12a5af91608 43 class Servoloop
johnylafleur 0:b12a5af91608 44 {
johnylafleur 0:b12a5af91608 45 public:
johnylafleur 0:b12a5af91608 46 Servoloop(int32_t proportionalGain, int32_t derivativeGain);
johnylafleur 0:b12a5af91608 47 void update(int32_t error);
johnylafleur 0:b12a5af91608 48 int32_t m_pos;
johnylafleur 0:b12a5af91608 49 int32_t m_prevError;
johnylafleur 0:b12a5af91608 50 int32_t m_proportionalGain;
johnylafleur 0:b12a5af91608 51 int32_t m_derivativeGain;
johnylafleur 0:b12a5af91608 52
johnylafleur 0:b12a5af91608 53 };
johnylafleur 0:b12a5af91608 54 #endif
johnylafleur 0:b12a5af91608 55 // End Servo Loop Class
johnylafleur 0:b12a5af91608 56 //---------------------------------------