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On each pass through the main loop, we calculate the errors for the pan and tilt controls as the
difference between the measurements and the setpoints. Then we invoke the ServoLoop control
algorithms to calculate the outputs.
//---------------------------------------
// Servo Loop Class
// A Proportional/Derivative feedback
// loop for pan/tilt servo tracking of
// blocks.
// (Based on Pixy CMUcam5 example code)
//---------------------------------------
class ServoLoop
{
public:
ServoLoop(int32_t proportionalGain, int32_t derivativeGain);
void update(int32_t error);
int32_t m_pos;
int32_t m_prevError;
int32_t m_proportionalGain;
int32_t m_derivativeGain;
};