Diff: Fahren.h

Revision:

9:b83994ef4b08

Parent:

8:077d0bb213a2

Child:

10:10bcb7fee9a6

--- a/Fahren.h	Thu May 18 09:12:46 2017 +0000
+++ b/Fahren.h	Fri May 19 12:30:42 2017 +0000
@@ -14,12 +14,12 @@
 public:
     
     //Konstruktoren und Destruktoren
-    Fahren(DigitalOut* enable, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, AnalogIn* distance, DigitalOut* enableMotorDriver, PwmOut* pwmLeft, PwmOut* pwmRight, Pixy* pixy, PID_Control* pid);
+    Fahren(DigitalOut* enable, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, AnalogIn* distance, DigitalOut* enableMotorDriver, PwmOut& pwmLeft, PwmOut& pwmRight, Pixy& pixy, PID_Control& pid);
     Fahren();
     virtual ~Fahren();
     
     //Public Methoden
-    void        init(DigitalOut* enable, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, AnalogIn* distance, DigitalOut* enableMotorDriver, PwmOut* pwmLeft, PwmOut* pwmRight, Pixy* pixy, PID_Control* pid);
+    void        init(DigitalOut* enable, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, AnalogIn* distance, DigitalOut* enableMotorDriver);
     void        setSerialOutput(Serial *pc);
     int         getState();
     void        fahrInit();
@@ -37,22 +37,20 @@
     DigitalOut*     bit2;
     AnalogIn*       distance;
     DigitalOut*     enableMotorDriver;
-    PwmOut*         pwmLeft;
-    PwmOut*         pwmRight;
-    Pixy*           pixy;
-    PID_Control*    pid;
+    PwmOut&         pwmLeft;
+    PwmOut&         pwmRight;
+    Pixy&           pixy;
+    PID_Control&    pid;
     
     int         state;
     enum        state {gerade=0,rechts,links,drehen,zurueck,zurueck_l,zurueck_r};
     Serial      *pc;
     float       e;
     float       diff;
+    int         serialTimer;
     //Konstante
     static const double wenden =0.22;
     static const double wand =0.07;
-    static const int    camCenterX = 160;
-    static const int    camMaxX = 319;
-    static const int    camMinX = 0;
 };
 
 #endif
\ No newline at end of file