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Dependencies:   mbed

Fork of Roboshark_V9 by Roboshark

Fahren.h@9:feabe0b7cea4, 2018-05-07 (annotated)

Committer:
ahlervin
Date:
Mon May 07 15:41:52 2018 +0000
Revision:
9:feabe0b7cea4
Parent:
8:d0a27278c108
Child:
10:fb2195d0de0f
Aufger?umtes Programm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ahlervin 9:feabe0b7cea4 1 /*Roboshark V7
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 9:feabe0b7cea4 15 #include "IRSensor.h"
ahlervin 9:feabe0b7cea4 16
ahlervin 6:7bbcdd07bc2d 17
Jacqueline 0:6d0671ae4648 18
Jacqueline 0:6d0671ae4648 19 class Fahren{
Jacqueline 0:6d0671ae4648 20
Jacqueline 0:6d0671ae4648 21 public:
ahlervin 9:feabe0b7cea4 22 Fahren(Controller& controller, EncoderCounter& counterLeft, EncoderCounter& counterRight,IRSensor& iRSensor); //Konstruktor
Jacqueline 0:6d0671ae4648 23
Jacqueline 0:6d0671ae4648 24 virtual ~Fahren();
Jacqueline 0:6d0671ae4648 25
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 8:d0a27278c108 38 IRSensor& iRSensor;
ahlervin 6:7bbcdd07bc2d 39
Jacqueline 0:6d0671ae4648 40
Jacqueline 0:6d0671ae4648 41 //Variablen die in der Klasse Fahren verwendet werden
Jacqueline 0:6d0671ae4648 42 double speedRight;
Jacqueline 0:6d0671ae4648 43 double speedLeft;
Jacqueline 0:6d0671ae4648 44 short initialClicksLeft;
Jacqueline 0:6d0671ae4648 45 short initialClicksRight;
Jacqueline 0:6d0671ae4648 46 short wegLinks;
Jacqueline 0:6d0671ae4648 47 short wegRechts;
Jacqueline 0:6d0671ae4648 48 short stopRight;
Jacqueline 0:6d0671ae4648 49 short stopLeft;
ahlervin 6:7bbcdd07bc2d 50 float SpeedR;
ahlervin 6:7bbcdd07bc2d 51 float SpeedL;
ahlervin 8:d0a27278c108 52 float disF;
ahlervin 8:d0a27278c108 53 int reglerEinL;
ahlervin 8:d0a27278c108 54 int reglerEinR;
ahlervin 7:862d80e0ea2d 55 int reglerEin;
ahlervin 6:7bbcdd07bc2d 56
Jacqueline 0:6d0671ae4648 57
Jacqueline 0:6d0671ae4648 58
Jacqueline 0:6d0671ae4648 59 };
Jacqueline 0:6d0671ae4648 60 #endif