nervousPuppy.h

00001 #include "mbed.h"
00002 #include "rtos.h"
00003 #include "Servo.h"
00004 #include "C12832.h"
00005 #include <math.h>
00006 #include <string>
00007 
00008 #define Cos(a) cos(PI/180*(a))
00009 #define Sin(a) sin(PI/180*(a))
00010 #define PI 3.1415926
00011 
00012 class nervousPuppy{
00013     public:
00014 
00015         nervousPuppy();
00016         
00017         bool isLonely();
00018         bool isScared();
00019         bool shutdown();
00020         
00021         void detectPlayer();
00022         float getPlayerDistance();
00023         void setPlayerDistance(float dist);
00024         
00025         float calculateAngle(string issue);
00026         void changePosition(string servo,float angle); 
00027         
00028     private:
00029         
00030         Mutex lockForDistance; //Not sure why needed
00031         float playerDistance, playerError;
00032         bool scared, lonely;
00033         const float LONELY = 22.0f; //Placeholder number
00034         const float SCARED = 24.0f; //Placeholder number
00035         const float RADIUS = 1.75f; //Placeholder number
00036         const float SHUTDOWN = 0.0f; //Placeholder number
00037         const float PULSE_RATE = 10; //Placeholder number - Pulses per second
00038         const float SERVO_TILT_LIMIT = 45; //Placeholder number - max angle servo can tilt by
00039         const float SERVO_ROTATE_LIMIT = 45; //Placeholder number - max angle servo can rotate by
00040 };