Diff: localization.h

Revision:

11:59a95866416e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/localization.h	Thu May 05 22:01:18 2016 +0000
@@ -0,0 +1,24 @@
+#include "mbed.h"
+#include "ultrasonic.h"
+#include "BNO055.h"
+#include "stepper.h"
+#define MMPERSTEP 17
+
+#define VERTICAL // define it on the vertical version to compile the corresponding code
+
+class localization
+{
+    public:
+        /**iniates the class with the specified trigger pin, echo pin, update speed and timeout**/
+        localization();
+        void reset(void); // reset, used at startup
+        /**starts mesuring the distance**/
+        void measure(void); // measure the current position and update X and Y
+        float getAngle(void); //return the angle
+        void servo(int degree);
+        int getX(void); // return X
+        int getY(void); // return Y
+    private:
+        int X;
+        int Y;
+};
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