diff_controller.h File Reference

#include <WProgram.h>
#include <math.h>

Include dependency graph for diff_controller.h:

Go to the source code of this file.

Classes
struct	SetPointInfo
Defines
#define	FRAME_RATE   33
#define	FRAMES   30
#define	MAXOUTPUT   255
#define	PID_NONE   0
#define	PID_SPEED   1
Functions
void	clearAll ()
void	ClearPID ()
void	DoPid (SetPointInfo *p)
void	setupPID ()
void	updatePID ()
Variables
unsigned long	f_time
int	Kd
int	Ki
int	Ko
int	Kp
SetPointInfo	left
int	left_pwm
int	left_speed
int	maxAccel
unsigned char	moving = 0
unsigned char	paused = 0
unsigned int	PIDmode
SetPointInfo	right
int	right_pwm
int	right_speed

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Define Documentation

#define FRAME_RATE   33

Definition at line 49 of file diff_controller.h.

#define FRAMES   30

Definition at line 50 of file diff_controller.h.

#define MAXOUTPUT   255

Definition at line 55 of file diff_controller.h.

#define PID_NONE   0

Definition at line 46 of file diff_controller.h.

#define PID_SPEED   1

Definition at line 47 of file diff_controller.h.

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Function Documentation

void clearAll

(

)

Definition at line 137 of file diff_controller.h.

void ClearPID

(

)

Definition at line 106 of file diff_controller.h.

void DoPid

(

SetPointInfo *

p

)

Definition at line 81 of file diff_controller.h.

void setupPID

(

)

Definition at line 70 of file diff_controller.h.

void updatePID

(

)

Definition at line 117 of file diff_controller.h.

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Variable Documentation

unsigned long f_time

Definition at line 51 of file diff_controller.h.

int Kd

Definition at line 39 of file diff_controller.h.

int Ki

Definition at line 40 of file diff_controller.h.

int Ko

Definition at line 41 of file diff_controller.h.

int Kp

Definition at line 38 of file diff_controller.h.

SetPointInfo left

Definition at line 67 of file diff_controller.h.

int left_pwm

Definition at line 32 of file diff_controller.h.

int left_speed

Definition at line 34 of file diff_controller.h.

int maxAccel

Definition at line 42 of file diff_controller.h.

unsigned char moving = 0

Definition at line 53 of file diff_controller.h.

unsigned char paused = 0

Definition at line 54 of file diff_controller.h.

unsigned int PIDmode

Definition at line 45 of file diff_controller.h.

SetPointInfo right

Definition at line 67 of file diff_controller.h.

int right_pwm

Definition at line 33 of file diff_controller.h.

int right_speed

Definition at line 35 of file diff_controller.h.