/*



	MOTORS.H



	Motor class controls the motors installd on the balancing

	robot, Ballybot.



	Alistair Sutherland

	suthe-aj@ee.uwa.edu.au

	CIIPS, 2003



*/



#include "eyebot.h"



// Error codes

#define MOTOR_FAIL -1

#define MOTOR_OK    0



//2.7

#define P_ 2.7

//0.3

#define I_ 0.3

//0.5

#define D_ 0.5



// 0.7

#define FRICTION_FORCE  0.85



////////////////////////////////////////////////

//

// MOTOR

//

// Is a class wrapping the motors

//

class CMotors

{

public:

	CMotors();

	~CMotors();

 

	int Reset();

	int SetForce(float fNewtons, float fVelocity);

	float GetDistance();



protected:

	MotorHandle m_motorLeft;

	MotorHandle m_motorRight;

	QuadHandle m_quadLeft;

	QuadHandle m_quadRight;



	float m_fLastError;

	float m_fIntegratedError;

	float m_fCorrection;

	int m_iPIDCounter;

	float m_fLeftDistance;

	float m_fRightDistance;

};

;