Diff: AUTOmatics.cpp

Revision:

8:f2407caf81ba

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AUTOmatics.cpp	Sat Mar 05 01:00:42 2022 +0000
@@ -0,0 +1,33 @@
+#include "AUTOmatics.hpp"
+
+void automatics::getTarget(double TARGETX,double TARGETY,double TARGETT){
+    targetX = TARGETX, targetY = TARGETY, targetT = TARGETT;
+}
+
+void automatics::getCurrent(double CURRENTX,double CURRENTY,double CURRENTT){
+    currentX = CURRENTX, currentY = CURRENTY, currentT = CURRENTT;
+}
+
+void automatics::Calc_Cp(){
+    xCp = MAXSPEED / targetX, yCp = MAXSPEED / targetY, tCp = MAXSPEED / targetT;
+}
+
+void automatics::Calc_diff(){
+    diffX = targetX - currentX, diffY = targetY - currentY , diffT = targetT - currentT;
+}
+
+void automatics::Calc_Pval(){
+    xP = diffX * xCp, yP = diffY * yCp, tP = diffT * tCp;
+}
+
+void automatics::Calc_PWM(){
+    xPWM += xP, yPWM += yP, tPWM += tP;
+}
+
+double automatics::get_xPWM(){ return xPWM; }
+
+double automatics::get_yPWM(){ return yPWM; }
+
+double automatics::get_tPWM(){ return tPWM; }
+
+    
\ No newline at end of file