Diff: robot.h

Revision:

7:a80cb6b06320

Parent:

3:1f47375270c5

Child:

12:8295c02d740f

diff -r 05f73a8474ca -r a80cb6b06320 robot.h
--- a/robot.h	Wed Nov 02 09:26:38 2016 +0000
+++ b/robot.h	Wed Nov 02 16:29:13 2016 +0000
@@ -1,30 +1,21 @@
 #include "arm.h"
+#include "PID_controller.h"
+#include "geometry.h"
 
 class Robot {
     private:
         // Arms
         Arm upperArm;
         Arm lowerArm;
-        // Roller position
-        float x;
-        float y;
-        // Ticker
-        Ticker ticker;
-        // Safety button
-        InterruptIn killButton;
-        
-        void doTick();
+
+        // Safety first!
+        volatile bool killed;
         
     public:
+        // Constructor
         Robot();
-//        void setX(float x);
-//        void setY(float y);
-        // Move only on the x axis
-        void moveX(float dx);
-        // Move only on the y axis
-        void moveY(float dy);
-        // Set arm lengths
-//        void setArms(float upper, float lower);
+        // Update arms
+        void update();
         // Get upper arm length
         float getUpperArmLength();
         // Get lower arm length
@@ -35,6 +26,7 @@
         void setLowerArmVelocity(float referenceVelocity);
         // Safety shutdown
         void kill();
+        bool isKilled();
 
 };