Diff: Car.h

Revision:

1:3e1290de9c8d

Parent:

0:d388aed56112

Child:

2:287a808baad7

--- a/Car.h	Fri Mar 07 07:54:13 2014 +0000
+++ b/Car.h	Mon Mar 10 10:15:22 2014 +0000
@@ -32,18 +32,29 @@
 
 class Car {  
     private:
+    
     PwmOut m_servo;
     PwmOut m_motor;
-    int m_pwmPeriod;        // Period used in PWM.
+    
+    int m_speed;
+    
     int m_servoRange;       // Pulsewidth range to full left/right from centre (1.5ms)
     float m_servoDegrees;   // Angle to full right/left turn from centre (0).
-    float distanceToTimeConverter(float distance);
+    
+    float m_wheelCircumference; // The circumference of the wheel with stripes.
+    int m_countsPerRevolution;  // The number of stripes on the wheel.
+    //InterruptIn m_stripeInterrupt;
+    
+    //float distanceToTimeConverter(float distance);
+    
     public:
+    
     Car(PinName servoPin, PinName motorPin);
+    Car(PinName servoPin, PinName motorPin, int countsPerRevolution, float wheelCircumference);
     ~Car();
     
+    void setSpeed(int speed_us);
     void forwards(float distance);
-    void forwards(int speed);
     void forwards();
     void stop();
     void setDirection(int degrees);
@@ -53,6 +64,8 @@
     
     void configureMotor_us(int pulsewidth_us, int period_us);
     void configureMotor_ms(int pulsewidth_ms, int period_ms);
+    
+    void configureEncoder(int countsPerRevolution, float wheelCircumference);
 };
 
 #endif // CAR_H
\ No newline at end of file