Diff: Servoloop.h

Revision:

0:b12a5af91608

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servoloop.h	Mon Apr 13 12:16:51 2015 +0000
@@ -0,0 +1,56 @@
+//==========================================================================
+//
+// Pixy Pet Robot
+//
+// Adafruit invests time and resources providing this open source code,
+// please support Adafruit and open-source hardware by purchasing
+// products from Adafruit!
+//
+// Written by: Bill Earl for Adafruit Industries
+//
+//==========================================================================
+// begin license header
+//
+// All Pixy Pet source code is provided under the terms of the
+// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
+//
+// end license header
+//
+//==========================================================================
+//
+// Portions of this code are derived from the Pixy CMUcam5 pantilt example code.
+//
+//==========================================================================
+#ifndef SERVOLOOP_H
+#define SERVOLOOP_H
+#include <SPI.h>
+#include <Pixy.h>
+#include <MD25.h>
+
+
+#define X_CENTER 160L
+#define Y_CENTER 100L
+#define RCS_MIN_POS 0L
+#define RCS_MAX_POS 1000L
+#define RCS_CENTER_POS ((RCS_MAX_POS-RCS_MIN_POS)/2)
+//---------------------------------------
+// Servo Loop Class
+// A Proportional/Derivative feedback
+// loop for pan/tilt servo tracking of
+// blocks.
+// (Based on Pixy CMUcam5 example code)
+//---------------------------------------
+class Servoloop
+{
+public:
+Servoloop(int32_t proportionalGain, int32_t derivativeGain);
+void update(int32_t error);
+int32_t m_pos;
+int32_t m_prevError;
+int32_t m_proportionalGain;
+int32_t m_derivativeGain;
+
+};
+#endif
+// End Servo Loop Class
+//---------------------------------------
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