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Dependencies:   mbed

Fork of Roboshark_V6 by Roboshark

Fahren.h

Committer:
ahlervin
Date:
2018-05-04
Revision:
7:862d80e0ea2d
Parent:
6:7bbcdd07bc2d
Child:
8:d0a27278c108

File content as of revision 7:862d80e0ea2d:

/*Roboshark V4
Fahren.h
Erstellt: J. Blunschi
geändert: V.Ahlers
V.5.18
*/


#ifndef FAHREN_H_
#define FAHREN_H_

#include <mbed.h>
#include "EncoderCounter.h"
#include "Controller.h"
#include "Regler.h"


class Fahren{
    
    public:    
    Fahren(Controller& controller, EncoderCounter& counterLeft, EncoderCounter& counterRight, Regler& regler, int reglerEin); //Konstruktor
    
    virtual ~Fahren();
    
    void geradeausU();
    void geradeausG();
    void rechts90();
    void rechts180();
    void links90();
    void ziel();
    void stopp();                        
    
    
    private:
    Controller& controller;
    EncoderCounter& counterLeft;
    EncoderCounter& counterRight;
    Regler& regler;
    Ticker ticker;
    void getSpeed();

    
    //Variablen die in der Klasse Fahren verwendet werden
    double speedRight;
    double speedLeft;
    short initialClicksLeft;
    short initialClicksRight;
    short wegLinks;
    short wegRechts;
    short stopRight;
    short stopLeft;
    float SpeedR;
    float SpeedL;
    static const float PERIOD;
    int reglerEin;
   
    

};
#endif