Diff: Fahren.h

Revision:

0:422088ad7fc5

Child:

3:017c85c4b14b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Fahren.h	Wed May 10 08:59:22 2017 +0000
@@ -0,0 +1,47 @@
+#ifndef FAHREN_H
+#define FAHREN_H
+
+#include <mbed.h>
+#include <cstdlib>
+#include "IRSensor.h"
+
+class Fahren
+{
+public:
+    
+    //Konstruktoren und Destruktoren
+    Fahren(DigitalOut* enable, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, AnalogIn* distance, DigitalOut* enableMotorDriver, PwmOut* pwmLeft, PwmOut* pwmRight);
+    Fahren();
+    virtual ~Fahren();
+    
+    //Public Methoden
+    void        init(DigitalOut* enable, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, AnalogIn* distance, DigitalOut* enableMotorDriver, PwmOut* pwmLeft, PwmOut* pwmRight);
+    void        setSerialOutput(Serial *pc);
+    int         getState();
+    void        fahrInit();
+    void        fahrRutine();
+
+private:
+    //Private Methoden
+    
+    
+    //Private Eigenschaften
+    IRSensor    sensors[6];
+    DigitalOut* enable;
+    DigitalOut* bit0;
+    DigitalOut* bit1;
+    DigitalOut* bit2;
+    AnalogIn*   distance;
+    DigitalOut* enableMotorDriver;
+    PwmOut*     pwmLeft;
+    PwmOut*     pwmRight;
+    
+    int         state;
+    enum        state {gerade=0,rechts,links,drehen,zurueck,zurueck_l,zurueck_r};
+    Serial      *pc;
+    //Konstante
+    static const double wenden =0.26;
+    static const double wand =0.07;
+};
+
+#endif
\ No newline at end of file