Autonomous line tracking with bump sensor
Fork of SeeedShieldBot by
Diff: SeeedStudioShieldBot.h
- Revision:
- 4:e2d5ac8459a4
- Parent:
- 3:ccd47cdacb7b
- Child:
- 5:179e85a68446
--- a/SeeedStudioShieldBot.h Mon Jul 15 13:48:10 2013 +0000 +++ b/SeeedStudioShieldBot.h Mon Jul 15 13:53:22 2013 +0000 @@ -9,30 +9,64 @@ SeeedStudioShieldBot(); /** Switch on the left motor at the given speed. + * @param speed The speed, from 0.0 to 1.0 at which to spin the motor. */ void left_motor(float speed); + + /** Switch on the right motor at the given speed. + * @param speed The speed, from 0.0 to 1.0 at which to spin the motor. + */ void right_motor(float speed); - // Like the two above, but both at the same speed. - // Negative of either will do the same job as the other (hopefully...) + /** Switch on both motors, forwards at the given speed. + * @param speed The speed, from 0.0 to 1.0 at which to spin the motor. + */ void forward(float speed); + + /** Switch on both motors, backwards at the given speed. + * @param speed The speed, from 0.0 to 1.0 at which to spin the motor. + */ void backward(float speed); - // This will rotate both of the motors in opposite directions, at the same speed + /** Switch on both motors at the given speed, in opposite directions so as to turn left. + * @param speed The speed, from 0.0 to 1.0 at which to spin the motors. + */ void left(float speed); + + /** Switch on both motors at the given speed, in opposite directions so as to turn right. + * @param speed The speed, from 0.0 to 1.0 at which to spin the motors. + */ void right(float speed); + /** Disable the left motor, by driving enable pin for the second motor low... + */ void disable_left_motor(); + + /** Disable the left motor, by driving enable pin for the first motor low... + */ void disable_right_motor(); + /** Enable the left motor, by driving enable pin for the second motor high... + */ void enable_left_motor(); + + /** Enable the left motor, by driving enable pin for the first motor high... + */ void enable_right_motor(); + /** Stop both motors at the same time. Different to disable. + */ void stopAll(); + + /** Stop a chosen motor. + * @param motor Number, either 1 or 2 choosing the motor. + */ void stop(int motor); // Need to do something to do with detected line... + /** Gives an indication of the data given by the reflectivity sensors. + */ float line_position(); DigitalIn rightSensor;