Kristian Lauszus / Mbed 2 deprecated BalancingRobotPS3

Code for my balancing robot, controlled with a PS3 controller via bluetooth

Dependencies:   mbed

Diff: BalancingRobot.h

Revision:
2:caec5534774d
Parent:
1:01295228342f
Child:
3:c3963f37d597
--- a/BalancingRobot.h	Tue Feb 14 18:31:05 2012 +0000
+++ b/BalancingRobot.h	Thu Feb 16 20:25:52 2012 +0000
@@ -53,7 +53,6 @@
 double Ki = 2;
 double Kd = 12;
 double targetAngle = 90;
-double lastTargetAngle;
 
 double lastError;
 double iTerm;
@@ -83,15 +82,19 @@
 bool steerRight;
 bool steerRotateRight;
 
+double targetOffset = 0;
+
 void calibrateSensors();
-void PID(double restAngle);
+void PID(double restAngle, double offset);
 double kalman(double newAngle, double newRate, double looptime);
 double getGyroYrate();
 double getAccY();
 void move(Motor motor, Direction direction, float speed);
 void stop(Motor motor);
 void processing();
-void receiveSerial();
+void receivePS3();
+void receiveXbee();
 void stopAndReset();
+void processing();
 
 #endif
\ No newline at end of file