Roboshark / Mbed 2 deprecated TestReglerV2

funktionierender Regler

Dependencies:   mbed

Fork of TestRegler by Roboshark

Fahren.h@7:b2a16b1cf487, 2018-04-30 (annotated)

Committer:
ahlervin
Date:
Mon Apr 30 22:11:38 2018 +0000
Revision:
7:b2a16b1cf487
Parent:
6:a4b745625dbe
Child:
8:d7dfee648545
Regler

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jacqueline 0:6d0671ae4648 1 #ifndef FAHREN_H_
Jacqueline 0:6d0671ae4648 2 #define FAHREN_H_
Jacqueline 0:6d0671ae4648 3
Jacqueline 0:6d0671ae4648 4 #include <mbed.h>
Jacqueline 0:6d0671ae4648 5 #include "EncoderCounter.h"
Jacqueline 0:6d0671ae4648 6 #include "Controller.h"
ahlervin 7:b2a16b1cf487 7 #include "Regler.h"
ahlervin 7:b2a16b1cf487 8 #include "IRSensor.h"
Jacqueline 0:6d0671ae4648 9
Jacqueline 0:6d0671ae4648 10 class Fahren{
Jacqueline 0:6d0671ae4648 11
Jacqueline 0:6d0671ae4648 12 public:
ahlervin 7:b2a16b1cf487 13 Fahren(Controller& controller, EncoderCounter& counterLeft, EncoderCounter& counterRight); //Konstruktor
Jacqueline 0:6d0671ae4648 14
Jacqueline 0:6d0671ae4648 15 virtual ~Fahren();
Jacqueline 0:6d0671ae4648 16
ahlervin 6:a4b745625dbe 17 void geradeausU();
ahlervin 6:a4b745625dbe 18 void geradeausG();
Jacqueline 0:6d0671ae4648 19 void rechts90();
Jacqueline 0:6d0671ae4648 20 void rechts180();
ahlervin 4:767fd282dd9c 21 void links90();
ahlervin 4:767fd282dd9c 22 void ziel();
ahlervin 7:b2a16b1cf487 23 void stopp();
Jacqueline 0:6d0671ae4648 24
Jacqueline 0:6d0671ae4648 25
Jacqueline 0:6d0671ae4648 26 private:
Jacqueline 0:6d0671ae4648 27 Controller& controller;
Jacqueline 0:6d0671ae4648 28 EncoderCounter& counterLeft;
Jacqueline 0:6d0671ae4648 29 EncoderCounter& counterRight;
Jacqueline 0:6d0671ae4648 30
Jacqueline 0:6d0671ae4648 31 //Variablen die in der Klasse Fahren verwendet werden
Jacqueline 0:6d0671ae4648 32 double speedRight;
Jacqueline 0:6d0671ae4648 33 double speedLeft;
Jacqueline 0:6d0671ae4648 34 short initialClicksLeft;
Jacqueline 0:6d0671ae4648 35 short initialClicksRight;
Jacqueline 0:6d0671ae4648 36 short wegLinks;
Jacqueline 0:6d0671ae4648 37 short wegRechts;
Jacqueline 0:6d0671ae4648 38 short stopRight;
Jacqueline 0:6d0671ae4648 39 short stopLeft;
ahlervin 6:a4b745625dbe 40 float SpeedR;
ahlervin 6:a4b745625dbe 41 float SpeedL;
ahlervin 7:b2a16b1cf487 42 static const float PERIOD;
ahlervin 7:b2a16b1cf487 43 Regler& regler;
ahlervin 7:b2a16b1cf487 44
ahlervin 7:b2a16b1cf487 45 void getSpeed();
ahlervin 7:b2a16b1cf487 46 Ticker ticker;
Jacqueline 0:6d0671ae4648 47
Jacqueline 0:6d0671ae4648 48
Jacqueline 0:6d0671ae4648 49 };
Jacqueline 0:6d0671ae4648 50 #endif