File content as of revision 8:f2407caf81ba:

#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; }