ControlledMotor.h

#pragma once
 
#include "Motor.h"
#include "RelativeEncoder.h"
 
namespace RoboidControl {
 
class ControlledMotor : public Motor {
 public:
  ControlledMotor(Motor* motor, RelativeEncoder* encoder, Thing* parent = Thing::LocalRoot());
 
  float pidP = 0.5;
  float pidD = 0;
  float pidI = 0.2;
 
  float actualVelocity;
 
  enum Direction { Forward = 1, Reverse = -1 };
  Direction rotationDirection;
 
  virtual void Update(bool recurse = false) override;
 
  virtual void SetTargetVelocity(float velocity) override;
 
  Motor* motor;
  RelativeEncoder* encoder;
 
 protected:
  float integral = 0;
  float lastError = 0;
  float lastUpdateTime;
};
 
}  // namespace RoboidControl