#ifndef TRACKINGDIFF_H_
#define TRACKINGDIFF_H_
#include "mainex.h"
#ifdef __cplusplus
extern "C" {
#endif
	
typedef struct TrackingDiffClass_
{
	float error;
	float vel_predict;
	float pos_predict;
	
	float vel_factor;
	float pos_factor;
	float time_correction;
} TrackingDiffClass;

//TrackingDiffClass* NewTrackingDiffClass(float vel_factor, float pos_factor, float time_factor);
//void TrackingDiffUpdate(TrackingDiffClass* self, float target);
void NewTrackingDiffUpdate(uint8_t channel, float target);
extern float pos_predict[255];
#ifdef __cplusplus
}
#endif

#endif