Autonomous line tracking with bump sensor
Fork of SeeedShieldBot by
SeeedStudioShieldBot.h
- Committer:
- melse
- Date:
- 2013-07-15
- Revision:
- 3:ccd47cdacb7b
- Parent:
- 2:118efce95f3c
- Child:
- 4:e2d5ac8459a4
File content as of revision 3:ccd47cdacb7b:
#include "mbed.h" /** Seeed Studio Shield Bot Control Class */ class SeeedStudioShieldBot { public: // Create a shield bot object, using default settings for now... SeeedStudioShieldBot(); /** Switch on the left motor at the given speed. */ void left_motor(float speed); 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...) void forward(float speed); void backward(float speed); // This will rotate both of the motors in opposite directions, at the same speed void left(float speed); void right(float speed); void disable_left_motor(); void disable_right_motor(); void enable_left_motor(); void enable_right_motor(); void stopAll(); void stop(int motor); // Need to do something to do with detected line... float line_position(); DigitalIn rightSensor; DigitalIn inRightSensor; DigitalIn centreSensor; DigitalIn inLeftSensor; DigitalIn leftSensor; private: PwmOut motor1A; DigitalOut motor1B; DigitalOut motor1En; // motor2A or motor2B need to be PWM, but the freedom board doesn't support it at the moment... PwmOut motor2A; DigitalOut motor2B; DigitalOut motor2En; };