Rauno U
/
Miisu
Six crescent shaped legs
EncoderMotor.hpp
- Committer:
- sim642
- Date:
- 2016-04-12
- Revision:
- 12:8de7f5d56fe4
- Parent:
- 11:a0976d3b33c5
- Child:
- 13:dc5f5f19e4e8
File content as of revision 12:8de7f5d56fe4:
#ifndef ENCODER_MOTOR_H #define ENCODER_MOTOR_H #include "Motor.hpp" #include "SpeedEncoder.hpp" #include "LerpSmoother.hpp" #include "ErrorController.hpp" class EncoderMotor : public Motor { public: EncoderMotor(MotorData nData, EncoderData encData, ErrorController &nEc, ErrorController &nEcRot); void setup(); virtual void drive(float power); void rotate(float rot); //private: void tick(); SpeedEncoder encoder; LerpSmoother speedSmoother; Ticker ticker; float setPower; ErrorController &ec; float out; float setRot; ErrorController &ecRot; }; #endif // ENCODER_MOTOR_H