Diff: src/main_controller.cpp

Revision:

1:6f18bb7a77a5

Child:

3:35deb5c21b33

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/main_controller.cpp	Thu Nov 15 17:19:20 2018 +0000
@@ -0,0 +1,57 @@
+#include <string>
+
+#include "main_controller.h"
+#include "pid_controller.h"
+
+MainController::MainController() {
+    m_pid = new PIDController;
+}
+
+MainController::~MainController() {
+    delete m_pid;
+}
+
+/***
+ * Assignment 3
+ * 
+ * Implement PID! Most of this work is done in "pid_controller".
+ ***/
+void MainController::update() {
+    // Update PID controller. This is the function you should be
+    // calling every systick.
+    m_pid->update();
+}
+
+/***
+ * Assignment 3: Part 1
+ * 
+ * Get your mouse driving straight.
+ ***/
+void MainController::driveStraight() {
+    /**
+     * Set an X goal and W goal correctly! This is discussed in the lecture slides.
+     * For help, see example code: pid/drive-straight.cpp
+     **/
+    m_pid->setXGoal(10);
+    m_pid->setWGoal(0);
+    pc.printf("Driving straight\n");
+}
+
+/***
+ * Assignment 3: Part 2
+ * 
+ * Get your mouse to turn, and drive a specific distance.
+ ***/
+void MainController::turn(int deg) {
+    /**
+     * For help, see example code: pid/turning.cpp
+     **/
+    pc.printf("Turning %d degrees\n", deg);
+}
+
+void MainController::moveCells(float n) {
+    /**
+     * For help, see example code: pid/full.cpp
+     **/
+    pc.printf("Moving %d cells\n", n);
+}
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