ARSLab / SeeedShieldBot

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Fork of SeeedShieldBot by Components

SeeedStudioShieldBot.h@3:ccd47cdacb7b, 2013-07-15 (annotated)

Committer:
melse
Date:
Mon Jul 15 13:48:10 2013 +0000
Revision:
3:ccd47cdacb7b
Parent:
2:118efce95f3c
Child:
4:e2d5ac8459a4
added more docs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
melse 0:227158f56a11 1 #include "mbed.h"
melse 0:227158f56a11 2
melse 3:ccd47cdacb7b 3 /** Seeed Studio Shield Bot Control Class
melse 3:ccd47cdacb7b 4 */
melse 0:227158f56a11 5 class SeeedStudioShieldBot {
melse 0:227158f56a11 6 public:
melse 0:227158f56a11 7
melse 0:227158f56a11 8 // Create a shield bot object, using default settings for now...
melse 0:227158f56a11 9 SeeedStudioShieldBot();
melse 0:227158f56a11 10
melse 2:118efce95f3c 11 /** Switch on the left motor at the given speed.
melse 2:118efce95f3c 12 */
melse 0:227158f56a11 13 void left_motor(float speed);
melse 0:227158f56a11 14 void right_motor(float speed);
melse 0:227158f56a11 15
melse 0:227158f56a11 16 // Like the two above, but both at the same speed.
melse 0:227158f56a11 17 // Negative of either will do the same job as the other (hopefully...)
melse 0:227158f56a11 18 void forward(float speed);
melse 0:227158f56a11 19 void backward(float speed);
melse 0:227158f56a11 20
melse 0:227158f56a11 21 // This will rotate both of the motors in opposite directions, at the same speed
melse 0:227158f56a11 22 void left(float speed);
melse 0:227158f56a11 23 void right(float speed);
melse 0:227158f56a11 24
melse 2:118efce95f3c 25 void disable_left_motor();
melse 2:118efce95f3c 26 void disable_right_motor();
melse 0:227158f56a11 27
melse 2:118efce95f3c 28 void enable_left_motor();
melse 2:118efce95f3c 29 void enable_right_motor();
melse 0:227158f56a11 30
melse 0:227158f56a11 31 void stopAll();
melse 2:118efce95f3c 32 void stop(int motor);
melse 0:227158f56a11 33
melse 0:227158f56a11 34 // Need to do something to do with detected line...
melse 0:227158f56a11 35
melse 1:5c40f2a5e1ac 36 float line_position();
melse 0:227158f56a11 37
melse 0:227158f56a11 38 DigitalIn rightSensor;
melse 0:227158f56a11 39 DigitalIn inRightSensor;
melse 0:227158f56a11 40 DigitalIn centreSensor;
melse 0:227158f56a11 41 DigitalIn inLeftSensor;
melse 0:227158f56a11 42 DigitalIn leftSensor;
melse 0:227158f56a11 43
melse 0:227158f56a11 44 private:
melse 0:227158f56a11 45 PwmOut motor1A;
melse 0:227158f56a11 46 DigitalOut motor1B;
melse 0:227158f56a11 47 DigitalOut motor1En;
melse 0:227158f56a11 48
melse 0:227158f56a11 49 // motor2A or motor2B need to be PWM, but the freedom board doesn't support it at the moment...
melse 0:227158f56a11 50 PwmOut motor2A;
melse 0:227158f56a11 51 DigitalOut motor2B;
melse 0:227158f56a11 52 DigitalOut motor2En;
melse 0:227158f56a11 53 };