37 lines
738 B
C++
37 lines
738 B
C++
#include "PID_v2.h"
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#include "position/systems.h"
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#define CAMERA_CENTER_X 0
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#define CAMERA_CENTER_Y -18
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#define CAMERA_CENTER_Y_ABS_SUM 72
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//Actually it's ± MAX_VAL
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#define MAX_X 25
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#define MAX_Y (CAMERA_CENTER_Y_ABS_SUM/2)
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#define DIST_MULT 1.65
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#define Kpx 1
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#define Kix 0
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#define Kdx 0
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#define Kpy 1
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#define Kiy 0
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#define Kdy 0
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class PositionSysCamera : public PositionSystem{
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public:
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PositionSysCamera();
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void goCenter();
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void update() override;
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void test() override;
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void setCameraPID();
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void CameraPID();
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int calcOtherGoalY(int goalY);
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double Inputx, Outputx, Setpointx, Inputy, Outputy, Setpointy;
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int MAX_DIST;
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PID* X;
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PID* Y;
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};
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