File content as of revision 0:7a97ebb833eb:

#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;
};