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Dependencies:   mbed

Fork of Roboshark_V5 by Roboshark

Regler.h@7:862d80e0ea2d, 2018-05-04 (annotated)

Committer:
ahlervin
Date:
Fri May 04 16:26:59 2018 +0000
Revision:
7:862d80e0ea2d
Parent:
6:7bbcdd07bc2d 
Mit Regler 2.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ahlervin 7:862d80e0ea2d 1 /*Roboshark V5
ahlervin 6:7bbcdd07bc2d 2 Regler.h
ahlervin 6:7bbcdd07bc2d 3 Erstellt: V.Ahlers
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 #ifndef REGLER_H_
ahlervin 6:7bbcdd07bc2d 9 #define REGLER_H_
ahlervin 6:7bbcdd07bc2d 10
ahlervin 6:7bbcdd07bc2d 11 #include <cstdlib>
ahlervin 6:7bbcdd07bc2d 12 #include <mbed.h>
ahlervin 7:862d80e0ea2d 13 #include "IRSensor.h"
ahlervin 6:7bbcdd07bc2d 14
ahlervin 6:7bbcdd07bc2d 15 class Regler{
ahlervin 6:7bbcdd07bc2d 16
ahlervin 6:7bbcdd07bc2d 17 public:
ahlervin 7:862d80e0ea2d 18 Regler(AnalogIn& IrRight, AnalogIn& IrLeft, IRSensor& iRSensor); //Konstruktor
ahlervin 6:7bbcdd07bc2d 19
ahlervin 6:7bbcdd07bc2d 20 virtual ~Regler();
ahlervin 6:7bbcdd07bc2d 21
ahlervin 6:7bbcdd07bc2d 22
ahlervin 7:862d80e0ea2d 23 float getSpeedR();
ahlervin 7:862d80e0ea2d 24 float getSpeedL();
ahlervin 6:7bbcdd07bc2d 25
ahlervin 6:7bbcdd07bc2d 26 private:
ahlervin 6:7bbcdd07bc2d 27 AnalogIn& IrRight;
ahlervin 6:7bbcdd07bc2d 28 AnalogIn& IrLeft;
ahlervin 7:862d80e0ea2d 29 IRSensor& iRSensor;
ahlervin 6:7bbcdd07bc2d 30 static const int FIXSPEED;
ahlervin 6:7bbcdd07bc2d 31 static const float PERIOD;
ahlervin 6:7bbcdd07bc2d 32 float SpeedR;
ahlervin 6:7bbcdd07bc2d 33 float SpeedL;
ahlervin 6:7bbcdd07bc2d 34 float measR2;
ahlervin 6:7bbcdd07bc2d 35 float measL2;
ahlervin 6:7bbcdd07bc2d 36 float div1;
ahlervin 6:7bbcdd07bc2d 37 float div2;
ahlervin 6:7bbcdd07bc2d 38 float div3;
ahlervin 6:7bbcdd07bc2d 39 float div4;
ahlervin 7:862d80e0ea2d 40 float div5;
ahlervin 7:862d80e0ea2d 41 float div6;
ahlervin 6:7bbcdd07bc2d 42 float kor1;
ahlervin 6:7bbcdd07bc2d 43 float kor2;
ahlervin 6:7bbcdd07bc2d 44 float kor3;
ahlervin 6:7bbcdd07bc2d 45 float kor4;
ahlervin 7:862d80e0ea2d 46 float kor5;
ahlervin 7:862d80e0ea2d 47 float kor6;
ahlervin 6:7bbcdd07bc2d 48 float faktor;
ahlervin 6:7bbcdd07bc2d 49
ahlervin 6:7bbcdd07bc2d 50
ahlervin 6:7bbcdd07bc2d 51 void setSpeed();
ahlervin 6:7bbcdd07bc2d 52 Ticker ticker;
ahlervin 6:7bbcdd07bc2d 53
ahlervin 6:7bbcdd07bc2d 54 };
ahlervin 6:7bbcdd07bc2d 55 #endif