Prometheus / Mbed 2 deprecated Prom_Roebi

Dependencies:   Farbsensor IRSensorLib PID_Control Servo mbed PixyLib

Fahren.h@9:b83994ef4b08, 2017-05-19 (annotated)

Committer:
ZHAW_Prometheus
Date:
Fri May 19 12:30:42 2017 +0000
Revision:
9:b83994ef4b08
Parent:
8:077d0bb213a2
Child:
10:10bcb7fee9a6
Vers. 19.05.2017 14:30

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ZHAW_Prometheus 0:422088ad7fc5 1 #ifndef FAHREN_H
ZHAW_Prometheus 0:422088ad7fc5 2 #define FAHREN_H
ZHAW_Prometheus 0:422088ad7fc5 3
ZHAW_Prometheus 7:5949f408b6da 4
ZHAW_Prometheus 0:422088ad7fc5 5 #include <mbed.h>
ZHAW_Prometheus 0:422088ad7fc5 6 #include <cstdlib>
ZHAW_Prometheus 0:422088ad7fc5 7 #include "IRSensor.h"
ZHAW_Prometheus 8:077d0bb213a2 8 //#include "CamAusw.h"
ZHAW_Prometheus 8:077d0bb213a2 9 #include "Pixy.h"
ZHAW_Prometheus 8:077d0bb213a2 10 #include "PID_Control.h"
ZHAW_Prometheus 0:422088ad7fc5 11
ZHAW_Prometheus 0:422088ad7fc5 12 class Fahren
ZHAW_Prometheus 0:422088ad7fc5 13 {
ZHAW_Prometheus 0:422088ad7fc5 14 public:
ZHAW_Prometheus 0:422088ad7fc5 15
ZHAW_Prometheus 0:422088ad7fc5 16 //Konstruktoren und Destruktoren
ZHAW_Prometheus 9:b83994ef4b08 17 Fahren(DigitalOut* enable, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, AnalogIn* distance, DigitalOut* enableMotorDriver, PwmOut& pwmLeft, PwmOut& pwmRight, Pixy& pixy, PID_Control& pid);
ZHAW_Prometheus 0:422088ad7fc5 18 Fahren();
ZHAW_Prometheus 0:422088ad7fc5 19 virtual ~Fahren();
ZHAW_Prometheus 0:422088ad7fc5 20
ZHAW_Prometheus 0:422088ad7fc5 21 //Public Methoden
ZHAW_Prometheus 9:b83994ef4b08 22 void init(DigitalOut* enable, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, AnalogIn* distance, DigitalOut* enableMotorDriver);
ZHAW_Prometheus 0:422088ad7fc5 23 void setSerialOutput(Serial *pc);
ZHAW_Prometheus 0:422088ad7fc5 24 int getState();
ZHAW_Prometheus 0:422088ad7fc5 25 void fahrInit();
ZHAW_Prometheus 0:422088ad7fc5 26 void fahrRutine();
ZHAW_Prometheus 0:422088ad7fc5 27
ZHAW_Prometheus 0:422088ad7fc5 28 private:
ZHAW_Prometheus 0:422088ad7fc5 29 //Private Methoden
ZHAW_Prometheus 0:422088ad7fc5 30
ZHAW_Prometheus 0:422088ad7fc5 31
ZHAW_Prometheus 0:422088ad7fc5 32 //Private Eigenschaften
ZHAW_Prometheus 7:5949f408b6da 33 IRSensor sensors[6];
ZHAW_Prometheus 7:5949f408b6da 34 DigitalOut* enable;
ZHAW_Prometheus 7:5949f408b6da 35 DigitalOut* bit0;
ZHAW_Prometheus 7:5949f408b6da 36 DigitalOut* bit1;
ZHAW_Prometheus 7:5949f408b6da 37 DigitalOut* bit2;
ZHAW_Prometheus 7:5949f408b6da 38 AnalogIn* distance;
ZHAW_Prometheus 7:5949f408b6da 39 DigitalOut* enableMotorDriver;
ZHAW_Prometheus 9:b83994ef4b08 40 PwmOut& pwmLeft;
ZHAW_Prometheus 9:b83994ef4b08 41 PwmOut& pwmRight;
ZHAW_Prometheus 9:b83994ef4b08 42 Pixy& pixy;
ZHAW_Prometheus 9:b83994ef4b08 43 PID_Control& pid;
ZHAW_Prometheus 0:422088ad7fc5 44
ZHAW_Prometheus 0:422088ad7fc5 45 int state;
ZHAW_Prometheus 0:422088ad7fc5 46 enum state {gerade=0,rechts,links,drehen,zurueck,zurueck_l,zurueck_r};
ZHAW_Prometheus 0:422088ad7fc5 47 Serial *pc;
ZHAW_Prometheus 8:077d0bb213a2 48 float e;
ZHAW_Prometheus 8:077d0bb213a2 49 float diff;
ZHAW_Prometheus 9:b83994ef4b08 50 int serialTimer;
ZHAW_Prometheus 0:422088ad7fc5 51 //Konstante
schuema4 3:017c85c4b14b 52 static const double wenden =0.22;
ZHAW_Prometheus 0:422088ad7fc5 53 static const double wand =0.07;
ZHAW_Prometheus 0:422088ad7fc5 54 };
ZHAW_Prometheus 0:422088ad7fc5 55
ZHAW_Prometheus 0:422088ad7fc5 56 #endif