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50 lines
1.5 KiB
C++
50 lines
1.5 KiB
C++
/*
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* PURPOSE: (DifferentialDriveController class)
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*/
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#ifndef DIFFERENTIAL_DRIVE_CONTROLER_HH
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#define DIFFERENTIAL_DRIVE_CONTROLER_HH
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#include "Motor/include/motorSpeedController.hh"
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#include "Control/include/PIDController.hh"
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class DifferentialDriveController {
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public:
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DifferentialDriveController( double distanceBetweenWheels,
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double wheelRadius,
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double wheelSpeedLimit,
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double headingRateLimit,
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double slowDownDistance,
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MotorSpeedController& rightMotorController,
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MotorSpeedController& leftMotorController
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);
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int update( double distance_err,
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double heading_err);
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void stop();
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private:
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// Do not allow the default constructor to be used.
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DifferentialDriveController();
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double distanceBetweenWheels;
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double wheelRadius;
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double wheelSpeedLimit;
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double headingRateLimit;
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double slowDownDistance;
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MotorSpeedController& rightMotorController;
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MotorSpeedController& leftMotorController;
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double rightMotorSpeedCommand;
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double leftMotorSpeedCommand;
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double desiredHeadingRate;
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double desiredRangeRate;
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// PID Controller
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PIDController headingctrl;
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PIDController wheelspeedctrl;
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};
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#endif
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