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Dependencies:   mbed

Robot.h@0:f45212966fb1, 2019-02-18 (annotated)

Committer:
mazdo25
Date:
Mon Feb 18 13:13:34 2019 +0000
Revision:
0:f45212966fb1
initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mazdo25 0:f45212966fb1 1 class Robot {
mazdo25 0:f45212966fb1 2 private:
mazdo25 0:f45212966fb1 3 float robotAngularVelocity;
mazdo25 0:f45212966fb1 4 float robotTranslationalVeocity;
mazdo25 0:f45212966fb1 5 Wheel* leftWheel;
mazdo25 0:f45212966fb1 6 Wheel* rightWheel;
mazdo25 0:f45212966fb1 7 float static const distanceBetweenWheels = 0.19;
mazdo25 0:f45212966fb1 8
mazdo25 0:f45212966fb1 9 public:
mazdo25 0:f45212966fb1 10 Robot(Wheel* LW, Wheel* RW) {
mazdo25 0:f45212966fb1 11 leftWheel = LW;
mazdo25 0:f45212966fb1 12 rightWheel= RW;
mazdo25 0:f45212966fb1 13
mazdo25 0:f45212966fb1 14 robotTranslationalVeocity = (lTemp + rTemp)/2;
mazdo25 0:f45212966fb1 15 };
mazdo25 0:f45212966fb1 16
mazdo25 0:f45212966fb1 17 void turn(float angularVelocity){//positive value is right, negative value is left
mazdo25 0:f45212966fb1 18
mazdo25 0:f45212966fb1 19 };
mazdo25 0:f45212966fb1 20
mazdo25 0:f45212966fb1 21 void calculateTranslationalVelocity(){
mazdo25 0:f45212966fb1 22 robotTranslationalVeocity = (LW->calculateAngularVelocity() + RW->calculateAngularVelocity();)/2;
mazdo25 0:f45212966fb1 23 }
mazdo25 0:f45212966fb1 24
mazdo25 0:f45212966fb1 25 void calculateAngularVelocity(){
mazdo25 0:f45212966fb1 26 robotAngularVelocity = (LW->calculateAngularVelocity() - RW->calculateAngularVelocity())/distanceBetweenWheels;
mazdo25 0:f45212966fb1 27 }
mazdo25 0:f45212966fb1 28
mazdo25 0:f45212966fb1 29 void Turn(float degrees){
mazdo25 0:f45212966fb1 30
mazdo25 0:f45212966fb1 31 }
mazdo25 0:f45212966fb1 32
mazdo25 0:f45212966fb1 33 };