Zachary Sunberg / Mbed 2 deprecated SAILORSbot

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Dependencies:   mbed

Diff: robot.h

Revision:
20:f0ca65974329
Parent:
0:9f058fe8cab5
Child:
21:18b585a44155
--- a/robot.h	Wed Jul 22 22:00:05 2015 +0000
+++ b/robot.h	Mon Jul 27 21:57:37 2015 +0000
@@ -7,11 +7,6 @@
 #define ERROR   1
 #define OK      0
 
-//PID gains
-#define P_TERM 1.5
-#define I_TERM 0.01
-#define D_TERM 20
-
 //max/min speed
 #define MAX 0.25
 #define MIN 0.1
@@ -26,4 +21,25 @@
 DigitalOut led3(LED3);
 DigitalOut led4(LED4);
 
-m3pi pi;
\ No newline at end of file
+m3pi pi;
+
+int mode;
+#define MANUAL_MODE 0
+#define LINE_FOLLOW_MODE 1
+
+volatile double leftspeed;
+volatile double rightspeed;
+
+char received[80];
+int r_index;
+int sensors[5];
+
+// GAINS
+//////////////////////////////
+float k_p = 1.5;
+float k_i = 0.0;
+float k_d = 0.0;
+//////////////////////////////
+
+Ticker communication;
+Ticker controls;