Activities

Diff: DumpTruck.h

Revision:

9:5a35e2a28a47

Parent:

5:dc4cf6cc24b3

--- a/DumpTruck.h	Tue Feb 07 21:01:20 2017 +0000
+++ b/DumpTruck.h	Thu Feb 23 20:01:28 2017 +0000
@@ -1,40 +1,51 @@
 #ifndef MBED_DUMP_TRUCK_H
 #define MBED_DUMP_TRUCK_H
- 
+
 #include "mbed.h"
+#include "Tracker.h"
+#include "IMU.h"
+#include "Motor.h"
+#include "Transceiver.h"
+
+// ADD SWITCHES & ULTRASONIC SENSOR implementation
 
 class DumpTruck {
 public:
     DumpTruck(int truckId);
-    void drive(); // Drive DC motors with a desired motor speed and distance
-    void stop();
-    void Calibrate();
-    //void RotateTo();
-    //void BedDown(); 
-    //void BedUp();   
-    //void raiseTo();
-    //void LowerBed();
-    
-  
+
+    // motor functions
+    void drive(float speed, float distance);// frontMotor
+    void turn(float angle);                 // turnMotor
+    void moveBed(bool raise, float angle);  // bedMotor
+    void stop();                            // all Motors
+
+    // ultrasonic functions
+    bool detect();                          // returns bool for object too close
+
+
 protected:
+    Tracker *track;
+    IMU *bed;
+    Motor *frontMotor;
+    Motor *turnMotor;
+    Motor *bedMotor;
+    Transceiver *nrf;
+
+    // add direct control for motor, switch, and ultrasonic sensor.
+
     int truckNumber;
-    float speed;                 // desired speed to drive the robot, a number between -1 and 1
-    float distance;  
-    float getDistance();            // input of desired distance to be traveled
-    float setTruckSpeed();       // set truck speed
-    float setTruckDistance();    // set distance to be traveled
-    //getBedAngle(); //Get data from Bed potentiometer, Hari is looking into the component for this
-    //getPivotAngle(double PivotAngle); //Get data from potentiometer
-    //SetPivotSpeed(double PivotSpeed); //Set arbitrary rotation of servo motor
-    //SetBedSpeed(); //Set arbitrary rotation of DC Motor
-    //bool GetBedUpperSwitch(); //Checks if bed is all the way up
-    //bool GetBedLowerSwitch(); //Checks if bed is all the way down
-    //bool SwitchState; //Switch state variable for Up and down bed functions
-    //float DesiredPivotAngle; // User Input of desired angle for the bed to be pivoted
-    //float DesiredBedAngle; //User Input of desired bed angle to be raised.
-    //float BedSpeed; //User input of desired speed for the dump truck's bed to rotate
-    //float PivotSpeed; //User input of desired speed for the dump truck to pivot its back at
-    
-    //bool isCalibrated;// returns 0 and 1 to check if the robot has been calibrated
+
+    // motor variables
+    float speed;                            // drive
+    float distance;                         // drive
+    float potAngle;                         // turn
+    float bedAngle;                         // bed
+
+    // bed-specific variables
+    bool switchState;   // BusIn the two limit switches
+
+    // ultrasonic-specific variables
+    bool tooClose;
+    float proximity
 };
 #endif