Pathfinding nach rechts funktioniert noch nicht...der rest schon
Dependencies: mbed
Fork of MicroMouse_MASTER_THREE by
Turn.h@1:d9e840c48b1e, 2018-03-31 (annotated)
- Committer:
- ruesipat
- Date:
- Sat Mar 31 16:45:57 2018 +0000
- Revision:
- 1:d9e840c48b1e
- Child:
- 7:5ef09519a6e9
j
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ruesipat | 1:d9e840c48b1e | 1 | #ifndef TURN_H_ |
ruesipat | 1:d9e840c48b1e | 2 | #define TURN_H_ |
ruesipat | 1:d9e840c48b1e | 3 | |
ruesipat | 1:d9e840c48b1e | 4 | #include <cstdlib> |
ruesipat | 1:d9e840c48b1e | 5 | #include <mbed.h> |
ruesipat | 1:d9e840c48b1e | 6 | #include "EncoderCounter.h" |
ruesipat | 1:d9e840c48b1e | 7 | #include "LowpassFilter.h" |
ruesipat | 1:d9e840c48b1e | 8 | #include "Controller.h" |
ruesipat | 1:d9e840c48b1e | 9 | |
ruesipat | 1:d9e840c48b1e | 10 | class Turn |
ruesipat | 1:d9e840c48b1e | 11 | { |
ruesipat | 1:d9e840c48b1e | 12 | |
ruesipat | 1:d9e840c48b1e | 13 | public: |
ruesipat | 1:d9e840c48b1e | 14 | |
ruesipat | 1:d9e840c48b1e | 15 | Turn(EncoderCounter& counterLeft, EncoderCounter& counterRight, Controller& controller, int& wallRight, int& wallFront, int& wallLeft); |
ruesipat | 1:d9e840c48b1e | 16 | |
ruesipat | 1:d9e840c48b1e | 17 | virtual ~Turn(); |
ruesipat | 1:d9e840c48b1e | 18 | void turning(); |
ruesipat | 1:d9e840c48b1e | 19 | |
ruesipat | 1:d9e840c48b1e | 20 | private: |
ruesipat | 1:d9e840c48b1e | 21 | |
ruesipat | 1:d9e840c48b1e | 22 | static const float TURNINGSPEED; |
ruesipat | 1:d9e840c48b1e | 23 | static const int TURNINGCOUNTS; |
ruesipat | 1:d9e840c48b1e | 24 | |
ruesipat | 1:d9e840c48b1e | 25 | EncoderCounter& counterLeft; |
ruesipat | 1:d9e840c48b1e | 26 | EncoderCounter& counterRight; |
ruesipat | 1:d9e840c48b1e | 27 | Controller& controller; |
ruesipat | 1:d9e840c48b1e | 28 | int& wallRight; |
ruesipat | 1:d9e840c48b1e | 29 | int& wallFront; |
ruesipat | 1:d9e840c48b1e | 30 | int& wallLeft; |
ruesipat | 1:d9e840c48b1e | 31 | }; |
ruesipat | 1:d9e840c48b1e | 32 | |
ruesipat | 1:d9e840c48b1e | 33 | #endif /* TURN_H_ */ |