51 lines
1022 B
C++
Executable File
51 lines
1022 B
C++
Executable File
#pragma once
|
|
|
|
#include <Arduino.h>
|
|
#include "motor.h"
|
|
#include "PID_v2.h"
|
|
|
|
//PID Constants
|
|
#define KP 1.5
|
|
#define KI 0.2
|
|
#define KD 0.1
|
|
|
|
#define KSPD 0.3
|
|
|
|
//BEST NUMBERS YET
|
|
//USE MOVING AVERAGE AND ANGLE WRAP
|
|
// #define KP 1.5
|
|
// #define KI 0
|
|
// #define KD 0.1
|
|
|
|
#define UNLOCK_THRESH 800
|
|
|
|
class DriveController{
|
|
|
|
public:
|
|
|
|
DriveController(Motor* m1_, Motor* m2_, Motor* m3_, Motor* m4_);
|
|
|
|
void drive(int dir=0, int speed=0, int tilt=0);
|
|
void prepareDrive(int dir, int speed, int tilt=0);
|
|
void drivePrepared();
|
|
float updatePid();
|
|
float torad(float f);
|
|
|
|
int vxp, vyp, vxn, vyn;
|
|
bool canUnlock;
|
|
unsigned long unlockTime;
|
|
|
|
private:
|
|
Motor* m1;
|
|
Motor* m2;
|
|
Motor* m3;
|
|
Motor* m4;
|
|
PID* pid;
|
|
int pDir, pSpeed, pTilt, oldSpeed;
|
|
float x, y, vx, vy, speed1, speed2, speed3, speed4, pidfactor, delta;
|
|
|
|
double input, output, setpoint;
|
|
|
|
float sins[360], cosins[360];
|
|
|
|
}; |