36 lines
1.3 KiB
C++
36 lines
1.3 KiB
C++
#pragma once
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#include <Arduino.h>
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#include "behaviour_control/data_source.h"
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#include "behaviour_control/complementary_filter.h"
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#define FILTER_DEFAULT_COEFF 0.6
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#define FILTER_YANGLE_COEFF FILTER_DEFAULT_COEFF
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#define FILTER_BANGLE_COEFF FILTER_DEFAULT_COEFF
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#define FILTER_YANGLE_FIX_COEFF FILTER_DEFAULT_COEFF
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#define FILTER_BANGLE_FIX_COEFF FILTER_DEFAULT_COEFF
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#define FILTER_YDIST_COEFF FILTER_DEFAULT_COEFF
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#define FILTER_BDIST_COEFF FILTER_DEFAULT_COEFF
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class DataSourceCameraConic : public DataSource{
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public:
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DataSourceCameraConic(HardwareSerial* ser, int baud);
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void test() override;
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void readSensor() override;
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void computeCoordsAngles();
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// int getValueAtk(bool);
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// int getValueDef(bool);
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int count = 0, unkn_counter = 0;
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bool data_received = false, start = false, end = false, dash = false;
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char current_char = 'a', start_char = 'a', end_char = 'a'; //initialize to unused values
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int goalOrientation, old_goalOrientation, pAtk, pDef;
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String s1 = "", s2 = "";
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int yangle = 0, bangle = 0, yangle_fix = 0, bangle_fix = 0, ydist = 0, bdist = 0;
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ComplementaryFilter *filt_yangle, *filt_bangle, *filt_yangle_fix, *filt_bangle_fix, *filt_ydist, *filt_bdist;
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}; |