Diff: project.h

Revision:

5:01882c3de2dc

Parent:

3:d744a6e2c4c0

Child:

6:00b7198f0b51

--- a/project.h	Thu Nov 13 01:46:51 2014 +0000
+++ b/project.h	Wed Nov 12 23:48:26 2014 -0500
@@ -9,32 +9,53 @@
 #define _PROJECT_H
 
 #include <stdio.h>
+#include "mbed.h"
 #include "m3pi.h"
+#define TURN_SPEED 0.25
+#define ERR_SUCCESS 0
+#define ERR_FAILURE 1
+
+/**
+ * @brief   Provides access to the digital outputs on the mbed controller.
+ *
+ * Note that by default these output pins are hardwired to the 6 LEDs that 
+ * stripe the development extension board. 
+ */
+typedef struct {
+    DigitalOut pin15(p15),
+    DigitalOut pin15(p15),
+    DigitalOut pin15(p15),
+    DigitalOut pin15(p16),
+    DigitalOut pin15(p17),
+    DigitalOut pin15(p18),
+    DigitalOut pin15(p19),
+    DigitalOut pin15(p20)
+} digi_out_pins;
 
 /**
  * @brief Driver forward.
  *
  * @param[in]   amt     Amount to drive forward.
  * @param[in]   spd     Drive speed.
- * @return              Distance driven.
+ * @return              Success or failure. 
  */
-float foward(float amt, float spd);
+int foward(float amt, float spd);
 
 /**
  * @brief Drive backward.
  *
  * @param[in]   amt     Amount to drive backward.
  * @param[in]   spd     Drive speed.
- * @return              Distance driven.
+ * @return              Success or failure. 
  */
-float backward(float amt);
+int backward(float amt);
 
 /**
  * @brief Turn right.
  *
  * @param[in]   deg     Desired final turn angle from starting position.
  * @param[in]   spd     Desired turning speed.
- * @return              0 if successful, or an error condition.
+ * @return              Success or failure. 
  */
 int right(float deg);
 
@@ -43,9 +64,9 @@
  *
  * @param[in]   deg     Desired final turn angle from starting position.
  * @param[in]   spd     Desired turning speed.
- * @return              0 if successful, or an error condition.
+ * @return              Success or failure. 
  */
-int left (float def);
+int left (float deg);
 
 /**
  * @brief Controller decision logic.
@@ -53,6 +74,13 @@
  * Decide what to do next based on the status of the drawing so far.
  *
  */
- void next_action();
+void next_action();
 
-#endif
\ No newline at end of file
+/**
+ * @brief Print a formatted message to the LCD
+ */
+void pretty_print(char* msg);
+
+
+
+#endif