Roboshark / Mbed 2 deprecated Roboshark_V10

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Dependencies:   mbed

Fork of Roboshark_V9 by Roboshark

Fahren.h@14:feafcee53fed, 2018-05-14 (annotated)

Committer:
ahlervin
Date:
Mon May 14 22:11:47 2018 +0000
Revision:
14:feafcee53fed
Parent:
10:fb2195d0de0f 
Mit Links Methode

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ahlervin 14:feafcee53fed 1 /*Roboshark V10
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 10:fb2195d0de0f 39 Ticker ticker;
ahlervin 10:fb2195d0de0f 40 void reset();
ahlervin 6:7bbcdd07bc2d 41
Jacqueline 0:6d0671ae4648 42
Jacqueline 0:6d0671ae4648 43 //Variablen die in der Klasse Fahren verwendet werden
Jacqueline 0:6d0671ae4648 44 double speedRight;
Jacqueline 0:6d0671ae4648 45 double speedLeft;
Jacqueline 0:6d0671ae4648 46 short initialClicksLeft;
Jacqueline 0:6d0671ae4648 47 short initialClicksRight;
Jacqueline 0:6d0671ae4648 48 short wegLinks;
Jacqueline 0:6d0671ae4648 49 short wegRechts;
Jacqueline 0:6d0671ae4648 50 short stopRight;
Jacqueline 0:6d0671ae4648 51 short stopLeft;
ahlervin 6:7bbcdd07bc2d 52 float SpeedR;
ahlervin 6:7bbcdd07bc2d 53 float SpeedL;
ahlervin 8:d0a27278c108 54 float disF;
ahlervin 8:d0a27278c108 55 int reglerEinL;
ahlervin 8:d0a27278c108 56 int reglerEinR;
ahlervin 7:862d80e0ea2d 57 int reglerEin;
ahlervin 10:fb2195d0de0f 58 static const float PERIOD;
ahlervin 6:7bbcdd07bc2d 59
Jacqueline 0:6d0671ae4648 60
Jacqueline 0:6d0671ae4648 61
Jacqueline 0:6d0671ae4648 62 };
Jacqueline 0:6d0671ae4648 63 #endif