Uses 2 HC-SR04 ultrasonic modules to steer the RenBuggy away from obstacles. Renishaw Team page fork.
Dependencies: mbed
Fork of RenBuggy_Ultrasonic by
ultrasonic_buggy.h
- Committer:
- RenBuggy
- Date:
- 2016-07-18
- Revision:
- 1:80c2ef16a42f
- Parent:
- 0:fbceffb594b6
File content as of revision 1:80c2ef16a42f:
/********************************************************* *buggy_functions.h * *Author: Elijah Orr & Dan Argust * * * *A library of functions that can be used to control the * *RenBuggy. * *********************************************************/ /* include guards are used to prevent problems caused by multiple definitions */ #ifndef BUGGY_FUNCTIONS_H #define BUGGY_FUNCTIONS_H /* mbed.h must be included in this file also */ #include "mbed.h" /* #define LeftMotorPin p5 tells the preprocessor to replace any mention of LeftMotorPin with p5 etc. */ #define LEFT_MOTOR_PIN P0_9 #define RIGHT_MOTOR_PIN P0_8 /* define pins to be used to operate the ultrasonic */ #define TRIGGER_PIN P0_11 #define LEFT_ECHO_PIN P1_20 #define RIGHT_ECHO_PIN P0_12 #define SPEED_OF_SOUND 340 //speed of sound =~340m/s at standard conditions /* these are function prototypes that declare all the functions in the library.*/ extern void forward(float); //Move the buggy forward for (float) seconds extern void left(float); //Turn left for (float) seconds extern void right(float); //Turn right for (float) seconds extern void hold(float); //Hold the buggy in an idle state for (float) seconds extern void stop(); //Stop all motors extern float getDistance_l(void); //get a distance reading in metres from the left sensor extern float getDistance_r(void); //get a distance reading in metres from the right sensor void resetSR04(void); //reset both ultrasonic modules #endif // BUGGY_FUNCTIONS_H