Mechatronics Robotics / Mbed 2 deprecated BrobotV1

These are the core files for the Robot at Team conception.

Dependencies:   mbed UniServ

Brobot.h@11:05d5539141c8, 2017-06-01 (annotated)

Committer:
obrie829
Date:
Thu Jun 01 08:34:27 2017 +0000
Revision:
11:05d5539141c8
Parent:
8:351b0b7b05b2
Child:
12:9a763d149f61
v10

Who changed what in which revision?

UserRevisionLine numberNew contents of line
obrie829 0:eba74e7a229b 1 /*
obrie829 0:eba74e7a229b 2 * Brobot.h
obrie829 0:eba74e7a229b 3 *
obrie829 0:eba74e7a229b 4 */
obrie829 0:eba74e7a229b 5
obrie829 0:eba74e7a229b 6 #ifndef BROBOT_H_
obrie829 0:eba74e7a229b 7 #define BROBOT_H_
obrie829 0:eba74e7a229b 8
obrie829 0:eba74e7a229b 9 #include <cstdlib>
obrie829 0:eba74e7a229b 10 #include <mbed.h>
obrie829 8:351b0b7b05b2 11 #include "SpeedControl.h"
obrie829 11:05d5539141c8 12 #include "PID_Control.h"
obrie829 11:05d5539141c8 13 #include "IRSensor.h"
obrie829 11:05d5539141c8 14 #include "Pixy.h"
obrie829 0:eba74e7a229b 15
obrie829 0:eba74e7a229b 16 /**
obrie829 0:eba74e7a229b 17 * This is a device driver class to drive the robot autonomously
obrie829 0:eba74e7a229b 18 */
obrie829 0:eba74e7a229b 19 class Brobot
obrie829 0:eba74e7a229b 20 {
obrie829 0:eba74e7a229b 21
obrie829 0:eba74e7a229b 22 public:
obrie829 0:eba74e7a229b 23 // constructors have same name as the class
obrie829 11:05d5539141c8 24 Brobot(SpeedControl& speedctrl, AnalogIn& distance, DigitalOut& enable, DigitalOut& bit0, DigitalOut& bit1, DigitalOut& bit2, DigitalOut* leds, Pixy& pixy);
obrie829 0:eba74e7a229b 25
obrie829 11:05d5539141c8 26 void avoidObstacleAndMove(int vtrans);
obrie829 11:05d5539141c8 27 void startLeds();
obrie829 11:05d5539141c8 28 void ledShow();
obrie829 11:05d5539141c8 29 void ledDistance();
obrie829 0:eba74e7a229b 30 void turnleft();
obrie829 0:eba74e7a229b 31 void turnright();
obrie829 0:eba74e7a229b 32 void forward();
obrie829 0:eba74e7a229b 33 void back();
obrie829 0:eba74e7a229b 34 void stop();
obrie829 11:05d5539141c8 35 void rotate(int ammount); //
obrie829 11:05d5539141c8 36 void approachBrick();
obrie829 11:05d5539141c8 37 void closeGrip();
obrie829 11:05d5539141c8 38 void openGrip();
obrie829 11:05d5539141c8 39 bool foundGreenBrick();
obrie829 11:05d5539141c8 40 bool foundHome();
obrie829 0:eba74e7a229b 41
obrie829 11:05d5539141c8 42
obrie829 0:eba74e7a229b 43 private:
obrie829 11:05d5539141c8 44
obrie829 11:05d5539141c8 45
obrie829 11:05d5539141c8 46 IRSensor sensor_front; // uses the default constructor because no arguments given
obrie829 11:05d5539141c8 47 IRSensor sensor_left;
obrie829 11:05d5539141c8 48 IRSensor sensor_right;
obrie829 11:05d5539141c8 49 DigitalOut* leds; //0 to 5
obrie829 11:05d5539141c8 50 IRSensor sensors[6];
obrie829 11:05d5539141c8 51 Ticker t1;
obrie829 11:05d5539141c8 52 PID_Control pid;
obrie829 11:05d5539141c8 53 PID_Control pixypid;
obrie829 11:05d5539141c8 54 Pixy pixy;
obrie829 11:05d5539141c8 55 SpeedControl& speedctrl;
obrie829 11:05d5539141c8 56 AnalogIn& distance;
obrie829 11:05d5539141c8 57 DigitalOut& enable;
obrie829 11:05d5539141c8 58 DigitalOut& bit0;
obrie829 11:05d5539141c8 59 DigitalOut& bit1;
obrie829 11:05d5539141c8 60 DigitalOut& bit2;
obrie829 0:eba74e7a229b 61 };
obrie829 0:eba74e7a229b 62
obrie829 0:eba74e7a229b 63 #endif /* BROBOT_H_ */