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Dependencies:   mbed

Fork of Roboshark_V9 by Roboshark

Fahren.h@8:d0a27278c108, 2018-05-07 (annotated)

Committer:
ahlervin
Date:
Mon May 07 14:11:06 2018 +0000
Revision:
8:d0a27278c108
Parent:
7:862d80e0ea2d
Child:
9:feabe0b7cea4
funkt regler

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ahlervin 6:7bbcdd07bc2d 1 /*Roboshark V4
ahlervin 6:7bbcdd07bc2d 2 Fahren.h
ahlervin 6:7bbcdd07bc2d 3 Erstellt: J. Blunschi
ahlervin 6:7bbcdd07bc2d 4 geändert: V.Ahlers
ahlervin 6:7bbcdd07bc2d 5 V.5.18
ahlervin 6:7bbcdd07bc2d 6 */
ahlervin 6:7bbcdd07bc2d 7
ahlervin 6:7bbcdd07bc2d 8
Jacqueline 0:6d0671ae4648 9 #ifndef FAHREN_H_
Jacqueline 0:6d0671ae4648 10 #define FAHREN_H_
Jacqueline 0:6d0671ae4648 11
Jacqueline 0:6d0671ae4648 12 #include <mbed.h>
Jacqueline 0:6d0671ae4648 13 #include "EncoderCounter.h"
Jacqueline 0:6d0671ae4648 14 #include "Controller.h"
ahlervin 6:7bbcdd07bc2d 15 #include "Regler.h"
ahlervin 6:7bbcdd07bc2d 16
Jacqueline 0:6d0671ae4648 17
Jacqueline 0:6d0671ae4648 18 class Fahren{
Jacqueline 0:6d0671ae4648 19
Jacqueline 0:6d0671ae4648 20 public:
ahlervin 8:d0a27278c108 21 Fahren(Controller& controller, EncoderCounter& counterLeft, EncoderCounter& counterRight, Regler& regler, int reglerEin, IRSensor& iRSensor); //Konstruktor
Jacqueline 0:6d0671ae4648 22
Jacqueline 0:6d0671ae4648 23 virtual ~Fahren();
Jacqueline 0:6d0671ae4648 24
ahlervin 6:7bbcdd07bc2d 25 void geradeausU();
ahlervin 6:7bbcdd07bc2d 26 void geradeausG();
Jacqueline 0:6d0671ae4648 27 void rechts90();
Jacqueline 0:6d0671ae4648 28 void rechts180();
ahlervin 4:767fd282dd9c 29 void links90();
ahlervin 4:767fd282dd9c 30 void ziel();
ahlervin 6:7bbcdd07bc2d 31 void stopp();
Jacqueline 0:6d0671ae4648 32
Jacqueline 0:6d0671ae4648 33
Jacqueline 0:6d0671ae4648 34 private:
Jacqueline 0:6d0671ae4648 35 Controller& controller;
Jacqueline 0:6d0671ae4648 36 EncoderCounter& counterLeft;
Jacqueline 0:6d0671ae4648 37 EncoderCounter& counterRight;
ahlervin 6:7bbcdd07bc2d 38 Regler& regler;
ahlervin 8:d0a27278c108 39 IRSensor& iRSensor;
ahlervin 6:7bbcdd07bc2d 40 Ticker ticker;
ahlervin 6:7bbcdd07bc2d 41 void getSpeed();
ahlervin 6:7bbcdd07bc2d 42
Jacqueline 0:6d0671ae4648 43
Jacqueline 0:6d0671ae4648 44 //Variablen die in der Klasse Fahren verwendet werden
Jacqueline 0:6d0671ae4648 45 double speedRight;
Jacqueline 0:6d0671ae4648 46 double speedLeft;
Jacqueline 0:6d0671ae4648 47 short initialClicksLeft;
Jacqueline 0:6d0671ae4648 48 short initialClicksRight;
Jacqueline 0:6d0671ae4648 49 short wegLinks;
Jacqueline 0:6d0671ae4648 50 short wegRechts;
Jacqueline 0:6d0671ae4648 51 short stopRight;
Jacqueline 0:6d0671ae4648 52 short stopLeft;
ahlervin 6:7bbcdd07bc2d 53 float SpeedR;
ahlervin 6:7bbcdd07bc2d 54 float SpeedL;
ahlervin 8:d0a27278c108 55 float disF;
ahlervin 8:d0a27278c108 56 int reglerEinL;
ahlervin 8:d0a27278c108 57 int reglerEinR;
ahlervin 6:7bbcdd07bc2d 58 static const float PERIOD;
ahlervin 7:862d80e0ea2d 59 int reglerEin;
ahlervin 6:7bbcdd07bc2d 60
Jacqueline 0:6d0671ae4648 61
Jacqueline 0:6d0671ae4648 62
Jacqueline 0:6d0671ae4648 63 };
Jacqueline 0:6d0671ae4648 64 #endif