Pathfinding nach rechts funktioniert noch nicht...der rest schon
Dependencies: mbed
Fork of MicroMouse_MASTER_THREE by
Drive.h@9:ab19796bf14a, 2018-05-16 (annotated)
- Committer:
- ruesipat
- Date:
- Wed May 16 16:41:44 2018 +0000
- Revision:
- 9:ab19796bf14a
- Parent:
- 7:5ef09519a6e9
;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ruesipat | 1:d9e840c48b1e | 1 | #ifndef DRIVE_H_ |
ruesipat | 1:d9e840c48b1e | 2 | #define DRIVE_H_ |
ruesipat | 1:d9e840c48b1e | 3 | |
ruesipat | 1:d9e840c48b1e | 4 | #include <cstdlib> |
ruesipat | 1:d9e840c48b1e | 5 | #include <mbed.h> |
ruesipat | 2:592f01278db4 | 6 | |
ruesipat | 1:d9e840c48b1e | 7 | #include "IRSensor.h" |
ruesipat | 1:d9e840c48b1e | 8 | #include "Controller.h" |
ruesipat | 1:d9e840c48b1e | 9 | #include "EncoderCounter.h" |
ruesipat | 1:d9e840c48b1e | 10 | #include "KontrastSensor.h" |
ruesipat | 1:d9e840c48b1e | 11 | |
ruesipat | 2:592f01278db4 | 12 | |
ruesipat | 1:d9e840c48b1e | 13 | class Drive |
ruesipat | 1:d9e840c48b1e | 14 | { |
ruesipat | 1:d9e840c48b1e | 15 | |
ruesipat | 1:d9e840c48b1e | 16 | public: |
ruesipat | 1:d9e840c48b1e | 17 | |
ruesipat | 9:ab19796bf14a | 18 | 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); |
ruesipat | 1:d9e840c48b1e | 19 | virtual ~Drive(); |
ruesipat | 1:d9e840c48b1e | 20 | void driving(); |
ruesipat | 1:d9e840c48b1e | 21 | private: |
ruesipat | 5:b8b1a979b0d5 | 22 | |
ruesipat | 5:b8b1a979b0d5 | 23 | static const float FRONTDISTANCE; |
ruesipat | 1:d9e840c48b1e | 24 | static const float DRIVINGSPEED; |
ruesipat | 1:d9e840c48b1e | 25 | static const int DRIVINGCOUNTS; |
TheDarkDurzo | 3:2ec7cf8bc3fc | 26 | |
ruesipat | 2:592f01278db4 | 27 | float difference; |
ruesipat | 1:d9e840c48b1e | 28 | |
ruesipat | 1:d9e840c48b1e | 29 | KontrastSensor& kontrastSensor; |
ruesipat | 2:592f01278db4 | 30 | |
ruesipat | 1:d9e840c48b1e | 31 | EncoderCounter& counterLeft; |
ruesipat | 1:d9e840c48b1e | 32 | EncoderCounter& counterRight; |
ruesipat | 2:592f01278db4 | 33 | |
ruesipat | 1:d9e840c48b1e | 34 | Controller& controller; |
ruesipat | 2:592f01278db4 | 35 | |
ruesipat | 4:e3f388933954 | 36 | IRSensor& irSensor0; |
ruesipat | 4:e3f388933954 | 37 | IRSensor& irSensor1; |
ruesipat | 4:e3f388933954 | 38 | IRSensor& irSensor2; |
ruesipat | 4:e3f388933954 | 39 | IRSensor& irSensor3; |
ruesipat | 2:592f01278db4 | 40 | |
ruesipat | 7:5ef09519a6e9 | 41 | int& dontStop; |
ruesipat | 9:ab19796bf14a | 42 | int& modeStart; |
ruesipat | 9:ab19796bf14a | 43 | int& path; |
ruesipat | 9:ab19796bf14a | 44 | int& pathNext; |
ruesipat | 2:592f01278db4 | 45 | |
ruesipat | 1:d9e840c48b1e | 46 | |
ruesipat | 1:d9e840c48b1e | 47 | }; |
ruesipat | 1:d9e840c48b1e | 48 | |
ruesipat | 1:d9e840c48b1e | 49 | #endif /* DRIVE_H_ */ |