PES2_R2D2.0 / Mbed 2 deprecated MicroMouse_MASTER_FIVE

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Show/hide line numbers Turn.h Source File

Turn.h

00001 #ifndef TURN_H_
00002 #define TURN_H_
00003 
00004 #include <cstdlib>
00005 #include <mbed.h>
00006 #include "EncoderCounter.h"
00007 #include "LowpassFilter.h"
00008 #include "Controller.h"
00009 
00010 class Turn
00011 {
00012 
00013 public:
00014 
00015     Turn(EncoderCounter& counterLeft, EncoderCounter& counterRight, Controller& controller, int& wallRight, int& wallFront, int& wallLeft, int& dontStop, int& modeStart,int& path);
00016     
00017     virtual ~Turn();
00018     void turning();
00019 
00020     
00021     
00022     
00023 private:
00024 
00025     static const float TURNINGSPEED;
00026     static const int TURNINGCOUNTS;
00027 
00028     EncoderCounter&    counterLeft;
00029     EncoderCounter&    counterRight;
00030     Controller& controller;
00031     int& wallRight;
00032     int& wallFront;
00033     int& wallLeft;
00034     int& dontStop;
00035     int& modeStart;
00036     int& path;
00037     
00038 };
00039 
00040 #endif /* TURN_H_ */
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