Diff: EncoderMotor.hpp

Revision:

16:4161d7af6b5a

Parent:

13:dc5f5f19e4e8

Child:

17:cb8ad2fc76e5

--- a/EncoderMotor.hpp	Tue Apr 12 17:43:51 2016 +0000
+++ b/EncoderMotor.hpp	Tue Apr 12 21:38:37 2016 +0000
@@ -9,26 +9,34 @@
 class EncoderMotor : public Motor
 {
 public:
+    enum Mode
+    {
+        NoMode,
+        SpeedMode,
+        TurnMode
+    };
+    
     EncoderMotor(MotorData nData, EncoderData encData, PIDData speedPIDData, PIDData turnPIDData);
     void setup();
     
-    virtual void drive(float power);
-    void rotate(float rot);
+    virtual void drive(float speed);
+    virtual void rotate(float turn);
     
-//private:
+private:
     void tick();
 
+    Ticker ticker;
+    
     SpeedEncoder encoder;
     LerpSmoother speedSmoother;
     
-    Ticker ticker;
-    float setPower;
-    PIDController speedPID;
+    Mode mode;
     
-    float out;
+    PIDController speedPID;
+    float setSpeed;
     
-    float setRot;
     PIDController turnPID;
+    float setTurn;
 };
 
 #endif // ENCODER_MOTOR_H
\ No newline at end of file