File content as of revision 3:35deb5c21b33:

#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->set_goal_x(3600);
    m_pid->set_goal_w(0);
    pc.printf("Driving straight\n");
    while(!m_pid->is_done());
}

/***
 * Assignment 3: Part 2
 * 
 * Get your mouse to turn, and drive a specific distance.
 ***/
void MainController::turn(int deg) {
    m_pid->set_goal_x(0);
    m_pid->set_goal_w(4.65*deg);
    pc.printf("Turning %d degrees\n", deg);
    while(!m_pid->is_done());
}

void MainController::moveCells(float n) {
    /**
     * For help, see example code: pid/full.cpp
     **/
    pc.printf("Moving %d cells\n", n);
}