Diff: Robot.h

Revision:

0:25f4809c2729

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Robot.h	Sun Jun 09 14:54:11 2019 +0000
@@ -0,0 +1,52 @@
+/** @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_ */
\ No newline at end of file