Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

EncoderMotor.hpp@13:dc5f5f19e4e8, 2016-04-12 (annotated)

Committer:
sim642
Date:
Tue Apr 12 13:25:01 2016 +0000
Revision:
13:dc5f5f19e4e8
Parent:
12:8de7f5d56fe4
Child:
16:4161d7af6b5a
Factor PID data into struct

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sim642 3:2235787e78c4 1 #ifndef ENCODER_MOTOR_H
sim642 3:2235787e78c4 2 #define ENCODER_MOTOR_H
sim642 3:2235787e78c4 3
sim642 3:2235787e78c4 4 #include "Motor.hpp"
sim642 6:9f9047ca4a89 5 #include "SpeedEncoder.hpp"
sim642 12:8de7f5d56fe4 6 #include "LerpSmoother.hpp"
sim642 13:dc5f5f19e4e8 7 #include "PIDController.hpp"
sim642 3:2235787e78c4 8
sim642 3:2235787e78c4 9 class EncoderMotor : public Motor
sim642 3:2235787e78c4 10 {
sim642 3:2235787e78c4 11 public:
sim642 13:dc5f5f19e4e8 12 EncoderMotor(MotorData nData, EncoderData encData, PIDData speedPIDData, PIDData turnPIDData);
sim642 3:2235787e78c4 13 void setup();
sim642 3:2235787e78c4 14
sim642 3:2235787e78c4 15 virtual void drive(float power);
sim642 5:7f800f61cb13 16 void rotate(float rot);
sim642 5:7f800f61cb13 17
sim642 3:2235787e78c4 18 //private:
sim642 3:2235787e78c4 19 void tick();
sim642 3:2235787e78c4 20
sim642 11:a0976d3b33c5 21 SpeedEncoder encoder;
sim642 12:8de7f5d56fe4 22 LerpSmoother speedSmoother;
sim642 3:2235787e78c4 23
sim642 3:2235787e78c4 24 Ticker ticker;
sim642 3:2235787e78c4 25 float setPower;
sim642 13:dc5f5f19e4e8 26 PIDController speedPID;
sim642 3:2235787e78c4 27
sim642 3:2235787e78c4 28 float out;
sim642 5:7f800f61cb13 29
sim642 5:7f800f61cb13 30 float setRot;
sim642 13:dc5f5f19e4e8 31 PIDController turnPID;
sim642 3:2235787e78c4 32 };
sim642 3:2235787e78c4 33
sim642 3:2235787e78c4 34 #endif // ENCODER_MOTOR_H