Sprint One / NervousPuppySprintOne

Fixed Sonar

Dependencies:   C12832 Servo mbed-rtos-edited mbed

Fork of NervousPuppy by Sean Doyle

nervousPuppy.h@7:8b2cf5e6e888, 2015-01-28 (annotated)

Committer:
SeanDoyle
Date:
Wed Jan 28 16:49:16 2015 +0000
Revision:
7:8b2cf5e6e888
Parent:
6:f854aa2f41e2 
tracking implemented

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SeanDoyle 0:f71b200c2f4d 1 #include "mbed.h"
SeanDoyle 2:8415bea33a95 2 #include "rtos.h"
SeanDoyle 2:8415bea33a95 3 #include "Servo.h"
SeanDoyle 4:2b47356f4b7d 4 #include "C12832.h"
SeanDoyle 2:8415bea33a95 5 #include <math.h>
SeanDoyle 2:8415bea33a95 6 #include <string>
SeanDoyle 0:f71b200c2f4d 7
SeanDoyle 0:f71b200c2f4d 8 #define Cos(a) cos(PI/180*(a))
SeanDoyle 0:f71b200c2f4d 9 #define Sin(a) sin(PI/180*(a))
SeanDoyle 0:f71b200c2f4d 10 #define PI 3.1415926
SeanDoyle 0:f71b200c2f4d 11
SeanDoyle 0:f71b200c2f4d 12 class nervousPuppy{
SeanDoyle 0:f71b200c2f4d 13 public:
SeanDoyle 4:2b47356f4b7d 14
SeanDoyle 0:f71b200c2f4d 15 nervousPuppy();
SeanDoyle 0:f71b200c2f4d 16
SeanDoyle 0:f71b200c2f4d 17 bool isLonely();
SeanDoyle 0:f71b200c2f4d 18 bool isScared();
SeanDoyle 2:8415bea33a95 19 bool shutdown();
SeanDoyle 0:f71b200c2f4d 20
SeanDoyle 2:8415bea33a95 21 void detectPlayer();
SeanDoyle 0:f71b200c2f4d 22 float getPlayerDistance();
SeanDoyle 1:8fe6802d6971 23 void setPlayerDistance(float dist);
SeanDoyle 2:8415bea33a95 24
SeanDoyle 5:cbb5d7460309 25 float calculateAngle(string issue);
SeanDoyle 2:8415bea33a95 26 void changePosition(string servo,float angle);
SeanDoyle 2:8415bea33a95 27
SeanDoyle 0:f71b200c2f4d 28 private:
SeanDoyle 2:8415bea33a95 29
SeanDoyle 2:8415bea33a95 30 Mutex lockForDistance; //Not sure why needed
SeanDoyle 2:8415bea33a95 31 float playerDistance, playerError;
SeanDoyle 2:8415bea33a95 32 bool scared, lonely;
SeanDoyle 6:f854aa2f41e2 33 const float LONELY = 22.0f; //Placeholder number
SeanDoyle 6:f854aa2f41e2 34 const float SCARED = 24.0f; //Placeholder number
SeanDoyle 5:cbb5d7460309 35 const float RADIUS = 1.75f; //Placeholder number
SeanDoyle 4:2b47356f4b7d 36 const float SHUTDOWN = 0.0f; //Placeholder number
SeanDoyle 2:8415bea33a95 37 const float PULSE_RATE = 10; //Placeholder number - Pulses per second
SeanDoyle 2:8415bea33a95 38 const float SERVO_TILT_LIMIT = 45; //Placeholder number - max angle servo can tilt by
SeanDoyle 2:8415bea33a95 39 const float SERVO_ROTATE_LIMIT = 45; //Placeholder number - max angle servo can rotate by
SeanDoyle 0:f71b200c2f4d 40 };