Diff: Config/Config.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Config/Config.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,54 @@
+#ifndef __CONFIG_H
+#define __CONFIG_H
+
+#include "GeoPosition.h"
+#include "CartPosition.h"
+
+/** Text-based configuration; reads config file and stores in fields
+ */
+class Config {
+    public:
+        Config();
+
+        bool load();
+        
+        float interceptDist;    // used for course correction steering calculation
+        float waypointDist;     // distance threshold to waypoint
+        float brakeDist;        // braking distance
+        float declination;
+        float compassGain;      // probably don't need this anymore
+        float yawGain;          // probably don't need this anymore
+        GeoPosition wpt[10];    // Waypoints, lat/lon coords
+        CartPosition cwpt[10];  // Waypoints, cartesian coords
+        unsigned int wptCount;  // number of active waypoints
+        int escMin;             // minimum ESC value; brake
+        int escZero;            // zero throttle
+        int escMax;             // max throttle
+        float topSpeed;         // top speed to achieve on the straights
+        float turnSpeed;        // speed for turns
+        float startSpeed;       // speed for start 
+        float minRadius;        // minimum turning radius (calculated)
+        float speedKp;          // Speed PID proportional gain
+        float speedKi;          // Speed PID integral gain
+        float speedKd;          // Speed PID derivative gain
+        float steerZero;        // zero steering aka center point
+        float steerGain;        // gain factor for steering algorithm
+        float steerGainAngle;   // angle below which steering gain takes effect
+        float cteKi;            // cross track error integral gain
+        bool usePP;             // use pure pursuit algorithm? 
+        float curbThreshold;    // distance at which curb avoid takes place
+        float curbGain;         // gain of curb avoid steering
+        // acceleration profile?
+        // braking profile?
+        float gyroBias;     // this needs to be 3d
+        // float gyroScale[3];
+        float magOffset[3];
+        float magScale[3];
+        // float accelOffset[3];
+        // float accelScale[3];
+        int gpsType;
+        int gpsBaud;
+        
+};
+
+#endif
\ No newline at end of file