Diff: Config/Config.h

Revision:

11:33757b21d0e4

Parent:

3:42f3821c4e54

--- a/Config/Config.h	Thu Nov 29 16:27:21 2018 +0000
+++ b/Config/Config.h	Thu Nov 29 16:35:31 2018 +0000
@@ -8,45 +8,49 @@
  */
 class Config {
     public:
+        static const int MAX_WPT=10;            // maximum number of waypoints
+
+        /** Create a new config instance */
         Config();
 
-        bool load();
-        bool loaded;            // has the config been loaded yet?
-        float interceptDist;    // used for course correction steering calculation
-        float waypointDist;     // distance threshold to waypoint
-        float brakeDist;        // braking distance
-        float declination;
-        float compassGain;      // probably don't need this anymore
-        float yawGain;          // probably don't need this anymore
-        GeoPosition wpt[10];    // Waypoints, lat/lon coords
-        CartPosition cwpt[10];  // Waypoints, cartesian coords
-        unsigned int wptCount;  // number of active waypoints
-        int escMin;             // minimum ESC value; brake
-        int escZero;            // zero throttle
-        int escMax;             // max throttle
-        float topSpeed;         // top speed to achieve on the straights
-        float turnSpeed;        // speed for turns
-        float startSpeed;       // speed for start 
-        float minRadius;        // minimum turning radius (calculated)
-        float speedKp;          // Speed PID proportional gain
-        float speedKi;          // Speed PID integral gain
-        float speedKd;          // Speed PID derivative gain
-        float steerZero;        // zero steering aka center point
-        float steerGain;        // gain factor for steering algorithm
-        float steerGainAngle;   // angle below which steering gain takes effect
-        float curbThreshold;    // distance at which curb avoid takes place
-        float curbGain;         // gain of curb avoid steering
-        // acceleration profile?
-        // braking profile?
-        float gyroBias;     // this needs to be 3d
+        /** Load configuration from file */
+        bool load(const char *filename);
+
+        bool loaded;                        // has the config been loaded yet?
+        float intercept;                    // used for course correction steering calculation
+        float waypointDist;                 // distance threshold to waypoint
+        float brakeDist;                    // braking distance
+        GeoPosition wpt[10];                // Waypoints, lat/lon coords
+        CartPosition cwpt[10];              // Waypoints, cartesian coords
+        float wptTopSpeedAdj[MAX_WPT];      // Speed approaching waypoint
+        float wptTurnSpeedAdj[MAX_WPT];
+        unsigned int wptCount;              // number of active waypoints
+        float escMin;                       // minimum ESC value; brake
+        float escZero;                      // zero throttle
+        float escMax;                       // max throttle
+        float topSpeed;                     // default top speed to achieve on the straights
+        float turnSpeed;                    // default speed for turns
+        float startSpeed;                   // speed for start
+        float minRadius;                    // minimum turning radius (calculated)
+        float speedKp;                      // Speed PID proportional gain
+        float speedKi;                      // Speed PID integral gain
+        float speedKd;                      // Speed PID derivative gain
+        float steerZero;                    // zero steering aka center point
+        float steerScale;                   // gain factor for steering algorithm
+        float curbThreshold;                // distance at which curb avoid takes place
+        float curbGain;                     // gain of curb avoid steering
+//        float gyroBias;                   // this needs to be 3d
+        float gyroScale;                    // scales gyro output to degrees / sec
         // float gyroScale[3];
         float magOffset[3];
         float magScale[3];
         // float accelOffset[3];
         // float accelScale[3];
-        int gpsType;
-        int gpsBaud;
-        
+        float wheelbase;                    // Vehicle wheelbase, front to rear axle
+        float track;                        // Vehicle track width, left to right contact patch
+        float tireCirc;                     // tire circumference
+        int encStripes;                     // Number of ticks per revolution
+        float gpsValidSpeed;                // speed above which GPS can be relied upon
 };
 
 #endif
\ No newline at end of file