The localization library for SCRIBE
localization.h@8:91db52943f3e, 2016-04-25 (annotated)
- Committer:
- nibab
- Date:
- Mon Apr 25 01:04:51 2016 +0000
- Revision:
- 8:91db52943f3e
- Parent:
- 6:ee872bf49be6
Automatically turn to the original position and measure. #define MMPERSTEP 17.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nibab | 0:a5cac0a5e41d | 1 | #include "mbed.h" |
nibab | 0:a5cac0a5e41d | 2 | #include "ultrasonic.h" |
nibab | 0:a5cac0a5e41d | 3 | #include "BNO055.h" |
nibab | 8:91db52943f3e | 4 | #include "stepper.h" |
nibab | 8:91db52943f3e | 5 | #define MMPERSTEP 17 |
nibab | 0:a5cac0a5e41d | 6 | |
nibab | 3:c749f7b2e12c | 7 | //#define VERTICAL // define it on the vertical version to compile the corresponding code |
nibab | 0:a5cac0a5e41d | 8 | |
nibab | 0:a5cac0a5e41d | 9 | class localization |
nibab | 0:a5cac0a5e41d | 10 | { |
nibab | 0:a5cac0a5e41d | 11 | public: |
nibab | 0:a5cac0a5e41d | 12 | /**iniates the class with the specified trigger pin, echo pin, update speed and timeout**/ |
nibab | 0:a5cac0a5e41d | 13 | localization(); |
nibab | 0:a5cac0a5e41d | 14 | void reset(void); // reset, used at startup |
nibab | 0:a5cac0a5e41d | 15 | /**starts mesuring the distance**/ |
nibab | 0:a5cac0a5e41d | 16 | void measure(void); // measure the current position and update X and Y |
nibab | 1:2cd9602780f4 | 17 | float getAngle(void); //return the angle |
nibab | 6:ee872bf49be6 | 18 | void servo(int degree); |
nibab | 0:a5cac0a5e41d | 19 | int getX(void); // return X |
nibab | 0:a5cac0a5e41d | 20 | int getY(void); // return Y |
nibab | 0:a5cac0a5e41d | 21 | private: |
nibab | 0:a5cac0a5e41d | 22 | int X; |
nibab | 0:a5cac0a5e41d | 23 | int Y; |
nibab | 0:a5cac0a5e41d | 24 | }; |