CanSat2016aizu / Cansat2016

2016/07/23

Dependents:   Cansat2016_v1 Cansat2016_v1

Cansat2016.h@2:6fa291470764, 2016-08-27 (annotated)

Committer:
s1210160
Date:
Sat Aug 27 01:53:43 2016 +0000
Revision:
2:6fa291470764
Parent:
1:dad5c9475937 
2016/08/27

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s1210160 0:b42b5cb8b646 1 #include "mbed.h"
s1210160 0:b42b5cb8b646 2 #include "VNH5019.h"
s1210160 0:b42b5cb8b646 3
s1210160 0:b42b5cb8b646 4 #define M_PI 3.1415926535897932384626433832795
s1210160 0:b42b5cb8b646 5 class Cansat2016
s1210160 0:b42b5cb8b646 6 {
s1210160 0:b42b5cb8b646 7
s1210160 0:b42b5cb8b646 8 private:
s1210160 0:b42b5cb8b646 9 typedef struct {
s1210160 0:b42b5cb8b646 10 double x; // latitude
s1210160 0:b42b5cb8b646 11 double y; // longitude
s1210160 0:b42b5cb8b646 12 int direction; // compass
s1210160 0:b42b5cb8b646 13 } BasicData;
s1210160 0:b42b5cb8b646 14
s1210160 0:b42b5cb8b646 15 // robot data, target data
s1210160 0:b42b5cb8b646 16 BasicData robot, target;
s1210160 0:b42b5cb8b646 17 // distance of robot and target
s1210160 0:b42b5cb8b646 18 double sub_x, sub_y;
s1210160 0:b42b5cb8b646 19 double distance;
s1210160 0:b42b5cb8b646 20 // motor
s1210160 0:b42b5cb8b646 21 VNH5019 _motor;
s1210160 0:b42b5cb8b646 22 // speed of robot
s1210160 0:b42b5cb8b646 23 int speed;
s1210160 0:b42b5cb8b646 24 // action of robot
s1210160 0:b42b5cb8b646 25 char action;
s1210160 0:b42b5cb8b646 26
s1210160 0:b42b5cb8b646 27 public:
s1210160 0:b42b5cb8b646 28 // constructor
s1210160 0:b42b5cb8b646 29 Cansat2016(VNH5019 motor);
s1210160 0:b42b5cb8b646 30
s1210160 0:b42b5cb8b646 31 void calc_distance(void);
s1210160 0:b42b5cb8b646 32 void robot_compass(DigitalIn *sensor);
s1210160 0:b42b5cb8b646 33 void target_compass();
s1210160 0:b42b5cb8b646 34 void robot_action(void);
s1210160 0:b42b5cb8b646 35 void motor_control(void);
s1210160 0:b42b5cb8b646 36
s1210160 0:b42b5cb8b646 37 // set
s1210160 0:b42b5cb8b646 38 void set_robotGPS(double x, double y);
s1210160 0:b42b5cb8b646 39 void set_targetGPS(double x, double y);
s1210160 0:b42b5cb8b646 40 void set_action(char a);
s1210160 1:dad5c9475937 41 void set_speed(int value);
s1210160 0:b42b5cb8b646 42
s1210160 0:b42b5cb8b646 43 // get
s1210160 0:b42b5cb8b646 44 double get_x(void);
s1210160 0:b42b5cb8b646 45 double get_y(void);
s1210160 0:b42b5cb8b646 46 int get_compass(char c);
s1210160 0:b42b5cb8b646 47 double get_distance(void);
s1210160 0:b42b5cb8b646 48 char get_action(void);
s1210160 0:b42b5cb8b646 49 };