Configurable Robots / Mbed 2 deprecated Configurable_Robots

Dr. Davis and Dr. Dyer special studies robotics project

Dependencies:   BSP_DISCO_F469NI LCD_DISCO_F469NI TS_DISCO_F469NI mbed Motordriver

Fork of Configurable_Robots by Christopher Eubanks

Classes/RobotMVC/RobotModel.h@21:ee2b617cc0e6, 2017-05-11 (annotated)

Committer:
blu12758
Date:
Thu May 11 16:20:54 2017 +0000
Revision:
21:ee2b617cc0e6
Parent:
19:c44dc6716201 
OA changed to OF

Who changed what in which revision?

UserRevisionLine numberNew contents of line
blu12758 4:4989e85d16b6 1 //OU Configurable Robot Project
blu12758 4:4989e85d16b6 2 //Spring 2017
blu12758 5:be5e1177bb43 3 //William Bonner
blu12758 5:be5e1177bb43 4
blu12758 5:be5e1177bb43 5 #include "mbed.h"
blu12758 18:f2a516ad24eb 6 #include "motordriver.h"
blu12758 5:be5e1177bb43 7
blu12758 10:4dd8b18e07d0 8
blu12758 5:be5e1177bb43 9 class RobotModel
blu12758 5:be5e1177bb43 10 {
blu12758 5:be5e1177bb43 11 //Current mode of operation
blu12758 8:1173b502b316 12 //0 = await command
blu12758 5:be5e1177bb43 13 int _mode;
blu12758 5:be5e1177bb43 14
blu12758 11:10a7bb4bc714 15 int _larray[8];
blu12758 11:10a7bb4bc714 16 int _threshold;
blu12758 11:10a7bb4bc714 17 int _cds[2];
blu12758 11:10a7bb4bc714 18
blu12758 18:f2a516ad24eb 19 Timer sonar_t;
blu12758 18:f2a516ad24eb 20
blu12758 18:f2a516ad24eb 21 float speedLeft;
blu12758 18:f2a516ad24eb 22 float speedRight;
blu12758 18:f2a516ad24eb 23
blu12758 5:be5e1177bb43 24 public:
blu12758 5:be5e1177bb43 25
blu12758 6:8232db1ed208 26 //Constructors/Destructors
blu12758 6:8232db1ed208 27 ~RobotModel();
blu12758 6:8232db1ed208 28 RobotModel();
blu12758 6:8232db1ed208 29
blu12758 6:8232db1ed208 30 //Accessors/Mutators
blu12758 5:be5e1177bb43 31 int getMode() const {return _mode;}
blu12758 5:be5e1177bb43 32 void setMode(int m){_mode = m;}
blu12758 5:be5e1177bb43 33
blu12758 10:4dd8b18e07d0 34 //initialize the robot's hardware
blu12758 10:4dd8b18e07d0 35 void init();
blu12758 10:4dd8b18e07d0 36 //update the model based on the mode
blu12758 10:4dd8b18e07d0 37 int update();
blu12758 11:10a7bb4bc714 38
blu12758 11:10a7bb4bc714 39 //read the indicated light sensor
blu12758 11:10a7bb4bc714 40 int checkLight(int x);
blu12758 11:10a7bb4bc714 41 //read bit b of the line array
blu12758 11:10a7bb4bc714 42 int checkLine(int b);
blu12758 11:10a7bb4bc714 43 //scan the ADC on channel n
blu12758 11:10a7bb4bc714 44 int scan(int n);
blu12758 18:f2a516ad24eb 45
blu12758 18:f2a516ad24eb 46 //Motor Methods
blu12758 18:f2a516ad24eb 47 void StopMotors(void);
blu12758 18:f2a516ad24eb 48 void TurnRight();
blu12758 18:f2a516ad24eb 49 void TurnLeft();
blu12758 18:f2a516ad24eb 50 void DriveStraight();
blu12758 18:f2a516ad24eb 51 void DriveSquare();
chris1996 19:c44dc6716201 52 void DriveStraightMode(int ModeSetting);
chris1996 19:c44dc6716201 53 void TurnDegrees(int Degrees,int TurnDir);
blu12758 18:f2a516ad24eb 54
blu12758 18:f2a516ad24eb 55 float LeftSpeed();
blu12758 18:f2a516ad24eb 56 float RightSpeed();
blu12758 5:be5e1177bb43 57 };