Diff: pid_controller.h

Revision:

0:7a97ebb833eb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pid_controller.h	Sun May 05 00:02:11 2019 +0000
@@ -0,0 +1,54 @@
+#pragma once
+
+#include "globals.h"
+
+const float KpX = 0.01;
+const float KdX = 0.1;
+
+const float KpW = 0.003;
+const float KdW = 0;
+
+// for turning KpW=0.01, KdW=0.1
+
+const float min_speed = 0.08;
+const float max_speed = 0.16;
+
+const int done_limit = 150;
+
+class PIDController {
+public:
+    PIDController();
+    
+    void reset() volatile;
+    void update() volatile;
+
+    void setXGoal(int counts);
+    void setWGoal(int counts);
+
+    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 m_doneCounter;
+};
+