PES2_R2D2.0 / Mbed 2 deprecated MicroMouse_MASTER_FIVE

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Show/hide line numbers Drive.h Source File

Drive.h

00001 #ifndef DRIVE_H_
00002 #define DRIVE_H_
00003 
00004 #include <cstdlib>
00005 #include <mbed.h>
00006 
00007 #include "IRSensor.h"
00008 #include "Controller.h"
00009 #include "EncoderCounter.h"
00010 #include "KontrastSensor.h"
00011 
00012 
00013 class Drive
00014 {
00015 
00016 public:
00017     
00018     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);
00019     virtual ~Drive();
00020     void driving();
00021 private:
00022 
00023     static const float FRONTDISTANCE;
00024     static const float DRIVINGSPEED;
00025     static const int DRIVINGCOUNTS; 
00026     
00027     float difference;
00028     
00029     KontrastSensor& kontrastSensor;
00030     
00031     EncoderCounter& counterLeft;
00032     EncoderCounter& counterRight;
00033     
00034     Controller& controller;
00035     
00036     IRSensor& irSensor0;
00037     IRSensor& irSensor1;
00038     IRSensor& irSensor2;
00039     IRSensor& irSensor3;
00040     
00041     int& dontStop;
00042     int& modeStart;
00043     int& path;
00044     int& pathNext;
00045 
00046 
00047 };
00048 
00049 #endif /* DRIVE_H_ */
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