Diff: AUTOmatics.hpp

Revision:

8:f2407caf81ba

Parent:

7:a0b9b6e71e41

--- a/AUTOmatics.hpp	Wed Feb 23 03:03:36 2022 +0000
+++ b/AUTOmatics.hpp	Sat Mar 05 01:00:42 2022 +0000
@@ -2,5 +2,27 @@
 #define AUTOMATICS_H
 #include "mbed.h"
 
+#define MAXSPEED 500
+
 class automatics{
-    automatics(
\ No newline at end of file
+    public:
+        void getTarget(double,double,double);
+        void getCurrent(double,double,double);
+        double get_xPWM(),get_yPWM(),get_tPWM();
+    private:
+        double targetX,targetY,targetT;
+        double currentX,currentY,currentT;
+        double diffX,diffY,diffT;
+        double xCp,yCp,tCp;
+        double xP,yP,tP;
+        double xPWM,yPWM,tPWM;
+        
+        void Calc_diff();
+        void Calc_Cp();
+        void Calc_PWM();
+        void Calc_Pval();
+};
+
+#endif
+        
+        
\ No newline at end of file