adipu/guadaloop_lev_control
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This commit is contained in:
Aditya Pulipaka
2025-11-22 13:29:00 -06:00
parent f1fea28d73
commit 71092ec86f
9 changed files with 61 additions and 69 deletions
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16
lib/Controller.hpp
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@@ -14,7 +14,7 @@
#define dirBL 8
#define pwmBL 9
#define CAP 200
#define CAP 250
typedef struct Constants {
float kp;
@@ -49,10 +49,9 @@ class FullController {
: Left(l), Right(r), Front(f), Back(b), AvgRef(avgRef), LRDiffRef(lrDiffRef),
FBDiffRef(fbDiffRef), avgConsts(fullConsts.avg), LConsts(fullConsts.lColl),
FConsts(fullConsts.fColl), avgError({0,0,0}), LRDiffErr({0,0,0}),
FBDiffErr({0,0,0}), oor(false), outputOn(false),
FLPrev(0), BLPrev(0), FRPrev(0), BRPrev(0), slewRateLimit(slewRate) {}
FBDiffErr({0,0,0}), oor(false), outputOn(false) {}
void update(float tDiff);
void update();
void zeroPWMs();
void sendOutputs();
void report();
@@ -80,7 +79,7 @@ class FullController {
float AvgRef;
float LRDiffRef;
float FBDiffRef;
float slewRateLimit;
float avg;
int16_t avgPWM;
int16_t LDiffPWM;
@@ -94,12 +93,5 @@ class FullController {
int16_t BLPWM;
int16_t FRPWM;
int16_t BRPWM;
int16_t FLPrev;
int16_t BLPrev;
int16_t FRPrev;
int16_t BRPrev;
float tDiff;
};
#endif // CONTROLLER_HPP