Robert Zalog
/
hermes_copy
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Diff: main_controller.h
- Revision:
- 0:7a97ebb833eb
diff -r 000000000000 -r 7a97ebb833eb main_controller.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main_controller.h Sun May 05 00:02:11 2019 +0000
@@ -0,0 +1,26 @@
+#pragma once
+
+class PIDController;
+
+const float deg_to_counts = 4.65f;
+const float cells_to_counts = 216.0f;
+
+class MainController {
+public:
+ MainController();
+ ~MainController();
+
+ void update();
+
+ void driveStraight();
+ void turn(int deg);
+ void moveCells(float n);
+
+ void start();
+ void stop();
+
+ PIDController* m_pid;
+
+private:
+ bool shouldUpdate;
+};