kleiax/Bachelorarbeit-Rover
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 1 Wiki Activity

doxygen finished

Browse Source
This commit is contained in:
kleiax
2023-10-12 19:50:10 +02:00
parent db74898b72
commit 5eaeb2749b
39 changed files with 1283 additions and 1019 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/moveControl.cpp
+12 -12
View File
@@ -17,19 +17,19 @@ MoveControl::MoveControl()
leftSpeedometer{new Speedometer(PinNumbers::LeftMotor::encoder, Settings::wheelDiameter, Settings::encoderSteps)},
rightSpeedometer{new Speedometer(PinNumbers::RightMotor::encoder, Settings::wheelDiameter, Settings::encoderSteps)},
leftPid{new PID(&this->wheelspeedLeft,
&this->leftPidOut,
&this->wheelspeedLeftTarget,
Settings::Pid::Left::P,
Settings::Pid::Left::I,
Settings::Pid::Left::D,
DIRECT)},
&this->leftPidOut,
&this->wheelspeedLeftTarget,
Settings::Pid::Left::P,
Settings::Pid::Left::I,
Settings::Pid::Left::D,
DIRECT)},
rightPid{new PID(&this->wheelspeedRight,
&this->rightPidOut,
&this->wheelspeedRightTarget,
Settings::Pid::Right::P,
Settings::Pid::Right::I,
Settings::Pid::Right::D,
DIRECT)}
&this->rightPidOut,
&this->wheelspeedRightTarget,
Settings::Pid::Right::P,
Settings::Pid::Right::I,
Settings::Pid::Right::D,
DIRECT)}
{
this->leftPid->SetOutputLimits(Settings::Pid::outMin, Settings::Pid::outMax);
this->leftPid->SetSampleTime(Settings::Pid::sampleTime);