Diff: EncoderMotor.hpp

Revision:

13:dc5f5f19e4e8

Parent:

12:8de7f5d56fe4

Child:

16:4161d7af6b5a

--- a/EncoderMotor.hpp	Tue Apr 12 13:12:49 2016 +0000
+++ b/EncoderMotor.hpp	Tue Apr 12 13:25:01 2016 +0000
@@ -4,12 +4,12 @@
 #include "Motor.hpp"
 #include "SpeedEncoder.hpp"
 #include "LerpSmoother.hpp"
-#include "ErrorController.hpp"
+#include "PIDController.hpp"
 
 class EncoderMotor : public Motor
 {
 public:
-    EncoderMotor(MotorData nData, EncoderData encData, ErrorController &nEc, ErrorController &nEcRot);
+    EncoderMotor(MotorData nData, EncoderData encData, PIDData speedPIDData, PIDData turnPIDData);
     void setup();
     
     virtual void drive(float power);
@@ -23,12 +23,12 @@
     
     Ticker ticker;
     float setPower;
-    ErrorController &ec;
+    PIDController speedPID;
     
     float out;
     
     float setRot;
-    ErrorController &ecRot;
+    PIDController turnPID;
 };
 
 #endif // ENCODER_MOTOR_H
\ No newline at end of file