Diff: Controller.h

Revision:

0:7ab090cd6520

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Controller.h	Thu Jul 13 13:42:50 2017 +0000
@@ -0,0 +1,56 @@
+
+#ifndef CONTROLLER_H
+#define CONTROLLER_H
+
+#include "Pid_control.h"
+#include "Motor.h"
+#include "Brake.h"
+#include "Steering.h"
+
+
+#define max_throttle 50 // 50% maximum throttle
+#define max_braking  50
+#define braking_p1   1.0
+#define braking_p2   2.0
+#define braking_p3   4.0
+#define speed_brake_1 5.0
+#define speed_brake_2 10.0
+#define speed_brake_3 50.0
+#define min_speed     0.5 //at lower speeds vehicle will brake and stop
+
+
+class Controller
+{
+    public:
+    int  update(int Status);
+    
+      Controller();
+    ~Controller();
+   
+    
+    private:
+    
+    Pid_control pid_control_speed;
+    Pid_control pid_control_steering;
+    Motor motor;
+    Brake brake;
+    Steering steering;
+      
+    int _drive_direction;
+    int _drive_direction_old;
+    int _drive_direction_change;
+    int _target_speed;
+    int _actual_speed;
+    int _target_steering_angle;
+    int _actual_steering_angle;
+    int _u_steering;
+    int _u_throttle; 
+
+
+    int Pid_controller(void);
+    void actuate(int u); // value -100 to 100 full braking to full throttle
+    void stop(void);
+    
+    };
+    
+    #endif
\ No newline at end of file