sda
Dependencies: mbed
Robot.h
- Committer:
- jsobiecki
- Date:
- 2019-04-10
- Revision:
- 12:654ad1fe2951
- Parent:
- 0:719ea21609f1
File content as of revision 12:654ad1fe2951:
/** @file */ #ifndef ROBOT_H_ #define ROBOT_H_ #include "mbed.h" extern int16_t countsLeft; extern int16_t countsRight; /** \brief Sets the speed for both motors. * * \param leftSpeed A number from -300 to 300 representing the speed and * direction of the left motor. Values of -300 or less result in full speed * reverse, and values of 300 or more result in full speed forward. * \param rightSpeed A number from -300 to 300 representing the speed and * direction of the right motor. Values of -300 or less result in full speed * reverse, and values of 300 or more result in full speed forward. */ void setSpeeds(int16_t leftSpeed, int16_t rightSpeed); /** \brief Sets the speed for the left motor. * * \param speed A number from -300 to 300 representing the speed and * direction of the left motor. Values of -300 or less result in full speed * reverse, and values of 300 or more result in full speed forward. */ void setLeftSpeed(int16_t speed); /** \brief Sets the speed for the right motor. * * \param speed A number from -300 to 300 representing the speed and * direction of the right motor. Values of -300 or less result in full speed * reverse, and values of 300 or more result in full speed forward. */ void setRightSpeed(int16_t speed); /*! Returns the number of counts that have been detected from the both * encoders. These counts start at 0. Positive counts correspond to forward * movement of the wheel of the Romi, while negative counts correspond * to backwards movement. * * The count is returned as a signed 16-bit integer. When the count goes * over 32767, it will overflow down to -32768. When the count goes below * -32768, it will overflow up to 32767. */ void getCounts(); /*! This function is just like getCounts() except it also clears the * counts before returning. If you call this frequently enough, you will * not have to worry about the count overflowing. */ void getCountsAndReset(); //Pose estimation [time,omega,x,y,phi,v] -> [xk,yk,phik] double limitSpeed(double speed); #endif /* ROBOT_H_ */