ASEE-2014 / LineFollower

First team commit

Dependents:   ASEE-2014

Fork of LineFollower by Christopher Bradford

LineFollower.h@9:039a74519b89, 2014-03-10 (annotated)

Committer:
dfvreeland
Date:
Mon Mar 10 00:54:55 2014 +0000
Revision:
9:039a74519b89
Parent:
6:3482f3f93988
Child:
10:a9233fa6240d
David's rough line follower code added.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
blu12758 4:2abe380c57f1 1 #include "Motor.h"
blu12758 0:2623af9e8ef3 2 #include "mbed.h"
blu12758 0:2623af9e8ef3 3 #include <stdint.h>
blu12758 0:2623af9e8ef3 4
blu12758 0:2623af9e8ef3 5 #ifndef MBED_LINEFOLLOWER_H
blu12758 0:2623af9e8ef3 6 #define MBED_LINEFOLLOWER_H
blu12758 0:2623af9e8ef3 7
blu12758 0:2623af9e8ef3 8 class LineFollower{
blu12758 0:2623af9e8ef3 9
blu12758 0:2623af9e8ef3 10 public:
blu12758 0:2623af9e8ef3 11 /** Create a Line Follower interface for an IR Sensor Array
blu12758 0:2623af9e8ef3 12 *
blu12758 0:2623af9e8ef3 13 * @param ir1 IR Sensor 1
blu12758 0:2623af9e8ef3 14 * @param ir2 IR Sensor 2
blu12758 0:2623af9e8ef3 15 * @param ir3 IR Sensor 3
blu12758 0:2623af9e8ef3 16 * @param ir4 IR Sensor 4
blu12758 0:2623af9e8ef3 17 * @param ir5 IR Sensor 5
blu12758 0:2623af9e8ef3 18 * @param ir6 IR Sensor 6
blu12758 0:2623af9e8ef3 19 * @param ir7 IR Sensor 7
blu12758 0:2623af9e8ef3 20 * @param ir8 IR Sensor 8
blu12758 0:2623af9e8ef3 21 */
blu12758 4:2abe380c57f1 22 LineFollower(PinName ir1, PinName ir2, PinName ir3, PinName ir4,
blu12758 4:2abe380c57f1 23 PinName ir5, PinName ir6, PinName ir7, PinName ir8);
blu12758 0:2623af9e8ef3 24
blu12758 0:2623af9e8ef3 25
blu12758 0:2623af9e8ef3 26 /** Read the value of a LineFollower object
blu12758 0:2623af9e8ef3 27 *
blu12758 0:2623af9e8ef3 28 * @return The value of the Sensor
blu12758 0:2623af9e8ef3 29 */
blu12758 0:2623af9e8ef3 30 uint8_t read();
blu12758 1:c319e24af8df 31
blu12758 1:c319e24af8df 32 /** Follow a line
blu12758 1:c319e24af8df 33 *
blu12758 1:c319e24af8df 34 * @param l left drive motor
blu12758 1:c319e24af8df 35 * @param r right drive motor
blu12758 1:c319e24af8df 36 */
cbradford 6:3482f3f93988 37 int followLine(Motor l, Motor r);
dfvreeland 9:039a74519b89 38
dfvreeland 9:039a74519b89 39 float analogFollow(Motor l, Motor r);
blu12758 0:2623af9e8ef3 40
blu12758 0:2623af9e8ef3 41 protected:
blu12758 1:c319e24af8df 42 /* Constants */
blu12758 0:2623af9e8ef3 43 #define ROTATE_SPEED 100
blu12758 1:c319e24af8df 44 #define MAXSPEED 1
blu12758 1:c319e24af8df 45
blu12758 1:c319e24af8df 46 /* Attributes */
blu12758 4:2abe380c57f1 47 BusIn array;
blu12758 0:2623af9e8ef3 48
blu12758 0:2623af9e8ef3 49
blu12758 0:2623af9e8ef3 50 };
blu12758 0:2623af9e8ef3 51
blu12758 0:2623af9e8ef3 52 #endif