32 lines
635 B
C++
32 lines
635 B
C++
#pragma once
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#include <Encoder.h>
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#include <Motor.h>
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class ControlledMotor : public Thing {
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public:
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ControlledMotor();
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ControlledMotor(Motor* motor, Encoder* encoder);
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float velocity;
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float pidP = 1;
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float pidD = 0;
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float pidI = 0;
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void Update(float timeStep);
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void SetTargetVelocity(float rotationsPerSecond);
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float GetActualVelocity() {
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return rotationDirection * encoder->GetRotationsPerSecond();
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} // in rotations per second
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protected:
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float targetVelocity;
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Motor* motor;
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Encoder* encoder;
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enum Direction { Forward = 1,
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Reverse = -1 };
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Direction rotationDirection;
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}; |