PES2_R2D2.0 / Mbed 2 deprecated MicroMouse_MASTER_FIVE

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Dependencies:   mbed

Fork of MicroMouse_MASTER_FOUR by PES2_R2D2.0

Drive.h

Committer:
ruesipat
Date:
2018-05-22
Revision:
10:e8110fb94686
Parent:
9:ab19796bf14a

File content as of revision 10:e8110fb94686:

#ifndef DRIVE_H_
#define DRIVE_H_

#include <cstdlib>
#include <mbed.h>

#include "IRSensor.h"
#include "Controller.h"
#include "EncoderCounter.h"
#include "KontrastSensor.h"


class Drive
{

public:
    
    Drive(KontrastSensor& kontrastSensor, EncoderCounter& counterLeft, EncoderCounter& counterRight, Controller& controller, IRSensor& irSensor0, IRSensor& irSensor1, IRSensor& irSensor2, IRSensor& irSensor3, int& dontStop, int& modeStart, int& path, int& pathNext);
    virtual ~Drive();
    void driving();
private:

    static const float FRONTDISTANCE;
    static const float DRIVINGSPEED;
    static const int DRIVINGCOUNTS; 
    
    float difference;
    
    KontrastSensor& kontrastSensor;
    
    EncoderCounter& counterLeft;
    EncoderCounter& counterRight;
    
    Controller& controller;
    
    IRSensor& irSensor0;
    IRSensor& irSensor1;
    IRSensor& irSensor2;
    IRSensor& irSensor3;
    
    int& dontStop;
    int& modeStart;
    int& path;
    int& pathNext;


};

#endif /* DRIVE_H_ */