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Dependencies:   mbed

Fork of Roboshark_V5 by Roboshark

Regler.h

Committer:
ahlervin
Date:
2018-05-04
Revision:
7:862d80e0ea2d
Parent:
6:7bbcdd07bc2d

File content as of revision 7:862d80e0ea2d:

/*Roboshark V5
Regler.h
Erstellt: V.Ahlers
geändert: V.Ahlers
V.5.18
*/

#ifndef REGLER_H_
#define REGLER_H_

#include <cstdlib>
#include <mbed.h>
#include "IRSensor.h"

class Regler{

    public:    
    Regler(AnalogIn& IrRight, AnalogIn& IrLeft, IRSensor& iRSensor); //Konstruktor
    
    virtual ~Regler();
    
 
    float getSpeedR();
    float getSpeedL();
    
    private:
        AnalogIn& IrRight;
        AnalogIn& IrLeft;
        IRSensor& iRSensor;
        static const int FIXSPEED;
        static const float PERIOD;
        float SpeedR;
        float SpeedL;
        float measR2;
        float measL2;
        float div1;
        float div2;
        float div3;
        float div4;
        float div5;
        float div6;
        float kor1;
        float kor2;
        float kor3;
        float kor4;
        float kor5;
        float kor6;
        float faktor;
        
        
        void setSpeed();
        Ticker ticker;
        
    };
    #endif