Diff: headers/pid_controller.h

Revision:

3:35deb5c21b33

Parent:

1:6f18bb7a77a5

--- a/headers/pid_controller.h	Thu Nov 15 17:22:50 2018 +0000
+++ b/headers/pid_controller.h	Mon Nov 26 23:50:58 2018 +0000
@@ -1,44 +1,52 @@
 #pragma once
-
 #include "globals.h"
 
-const float KpX = 1;
-const float KdX = 0;
+const float g_KPX = 0.01;
+const float g_KDX = 0.03;
+const float g_KPW = 0.1;
+const float g_KDW = 0.1;
 
-const float KpW = 1;
-const float KdW = 0;
+const float g_MAX_SPEED = 0.3;
+const float g_MIN_SPEED = 0.08;
+const float g_DONE_THRESHOLD = 100;
 
 class PIDController {
-public:
-    PIDController();
-    
-    void reset() volatile;
-    void update() volatile;
+ public:
+  PIDController();
+
+  void reset();
+  void update();
+
+  void set_goal_x(int counts);
+  void set_goal_w(int counts);
 
-    void setXGoal(int counts);
-    void setWGoal(int counts);
+  bool is_done() const;
+  char* get_data();
+
+ private:
+  void get_sensor_feedback();
+  void x_controller();
+  void w_controller();
+  void update_motor_pwm();
+  float limit_pwm(float pwm) const;
 
-    bool isDone() volatile;
-    char* getData();
-private:
-    void getSensorFeedback() volatile;
-    void x_controller() volatile;
-    void w_controller() volatile;
-    void updateMotorPwm() volatile;
-    
-    int m_goalW;
-    int m_goalX;
-    
-    float m_pwmW;
-    float m_pwmX;
-    
-    int m_errorW;
-    int m_errorX;
-    int m_errorW_old;
-    int m_errorX_old;
-    
-    int m_countsW;
-    int m_countsX;
-    
-    char buf[200];
+  int goal_x_;
+  int goal_w_;
+
+  float counts_x_;
+  float counts_w_;
+
+  float error_x_;
+  float error_w_;
+
+  float error_prev_x_;
+  float error_prev_w_;
+
+  float pwm_x_;
+  float pwm_w_;
+
+  int stop_cnt_;
+
+  char data_buf_[200];
 };
+