43 lines
950 B
C++
43 lines
950 B
C++
#include "PID_v2.h"
|
|
|
|
#include "position/systems.h"
|
|
|
|
#define CAMERA_CENTER_X 0
|
|
#define CAMERA_CENTER_Y 0
|
|
#define CAMERA_GOAL_X 0
|
|
#define CAMERA_GOAL_Y -13
|
|
#define CAMERA_CENTER_Y_ABS_SUM 72
|
|
//Actually it's ± MAX_VAL
|
|
#define MAX_X 25
|
|
#define MAX_Y (CAMERA_CENTER_Y_ABS_SUM/2)
|
|
#define DIST_MULT 1.65
|
|
|
|
#define Kpx 1
|
|
#define Kix 0
|
|
#define Kdx 0
|
|
#define Kpy 1
|
|
#define Kiy 0
|
|
#define Kdy 0
|
|
|
|
class PositionSysCamera : public PositionSystem{
|
|
|
|
public:
|
|
PositionSysCamera();
|
|
void goCenter();
|
|
void centerGoal();
|
|
void setMoveSetpoints(int x, int y);
|
|
void addMoveOnAxis(int x, int y);
|
|
void update() override;
|
|
void test() override;
|
|
void setCameraPID();
|
|
void CameraPID();
|
|
int calcOtherGoalY(int goalY);
|
|
|
|
double Inputx, Outputx, Setpointx, Inputy, Outputy, Setpointy;
|
|
int MAX_DIST, vx, vy, axisx, axisy;
|
|
bool givenMovement;
|
|
PID* X;
|
|
PID* Y;
|
|
|
|
};
|