Mechatronics Robotics
/
BrobotV1
These are the core files for the Robot at Team conception.
Brobot.h@8:351b0b7b05b2, 2017-05-29 (annotated)
- Committer:
- obrie829
- Date:
- Mon May 29 13:03:28 2017 +0000
- Revision:
- 8:351b0b7b05b2
- Parent:
- 0:eba74e7a229b
- Child:
- 11:05d5539141c8
- Child:
- 15:4efc66de795a
with speed control
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:eba74e7a229b | 12 | |
obrie829 | 0:eba74e7a229b | 13 | /** |
obrie829 | 0:eba74e7a229b | 14 | * This is a device driver class to drive the robot autonomously |
obrie829 | 0:eba74e7a229b | 15 | */ |
obrie829 | 0:eba74e7a229b | 16 | class Brobot |
obrie829 | 0:eba74e7a229b | 17 | { |
obrie829 | 0:eba74e7a229b | 18 | |
obrie829 | 0:eba74e7a229b | 19 | public: |
obrie829 | 0:eba74e7a229b | 20 | // constructors have same name as the class |
obrie829 | 8:351b0b7b05b2 | 21 | Brobot(SpeedControl* speedctrl, int number); |
obrie829 | 8:351b0b7b05b2 | 22 | //Brobot(); //empty constructor |
obrie829 | 0:eba74e7a229b | 23 | |
obrie829 | 0:eba74e7a229b | 24 | |
obrie829 | 0:eba74e7a229b | 25 | // void init(PwmOut* left, PwmOut* right, int number); |
obrie829 | 0:eba74e7a229b | 26 | void turnleft(); |
obrie829 | 0:eba74e7a229b | 27 | void turnright(); |
obrie829 | 0:eba74e7a229b | 28 | void forward(); |
obrie829 | 0:eba74e7a229b | 29 | void back(); |
obrie829 | 0:eba74e7a229b | 30 | void stop(); |
obrie829 | 0:eba74e7a229b | 31 | void slow(float ammount); // ammount is subtracted from current speeds |
obrie829 | 0:eba74e7a229b | 32 | void rotate(float ammount); // values from -0.5 to 0.5 |
obrie829 | 0:eba74e7a229b | 33 | |
obrie829 | 0:eba74e7a229b | 34 | private: |
obrie829 | 0:eba74e7a229b | 35 | PwmOut* pwmL; |
obrie829 | 0:eba74e7a229b | 36 | PwmOut* pwmR; |
obrie829 | 0:eba74e7a229b | 37 | int number; |
obrie829 | 8:351b0b7b05b2 | 38 | SpeedControl* speedctrl; |
obrie829 | 0:eba74e7a229b | 39 | }; |
obrie829 | 0:eba74e7a229b | 40 | |
obrie829 | 0:eba74e7a229b | 41 | #endif /* BROBOT_H_ */ |