Activities

Diff: DumpTruck.h

Revision:

15:a4bbdde8ed69

Parent:

14:fd6090cddc2e

Child:

16:6530f62dd28b

--- a/DumpTruck.h	Tue Apr 25 05:24:47 2017 +0000
+++ b/DumpTruck.h	Tue Apr 25 20:54:15 2017 +0000
@@ -39,24 +39,24 @@
     DumpTruck(int truckId);
 
     /*
-    *   Process command
+    *   Process command, parsing it and calling the associated function.
     */
     void processCommand();
 
     /*
-    *   Send not acknowledge
+    *   Send not acknowledge to base station.
     */
 
     void sendNack();
 
     /*
-    *   Send acknowledge
+    *   Send acknowledge to base station.
     */
 
     void sendAck();
     
     /*
-    *   Initialize transceiver.
+    *   Initialize transceiver and other miscellaneous devices.
     */
     void startComms();
     
@@ -96,6 +96,12 @@
     *   Stop turning.
     */
     void stopTurn();                            // all Motors
+    
+    /*
+    *   Stop all motors if an object comes within range of the
+    *   ultrasonic sensor
+    */
+    void detectStop();
 
     /*
     *   Stop bed.
@@ -119,6 +125,8 @@
     int commandValue;
     typedef void (DumpTruck::*funcArray)(void);
     funcArray commArr[sizeof(commands)/sizeof(*commands)];
+    float zeroAngle;
+    bool interrupted;
     
 protected:    
     Tracker *track;
@@ -128,6 +136,7 @@
     Motor *bedMotor;
     nRF24L01P *nrf; //Transceiver *nrf;
     SRF05 *srf;
+    AnalogIn *pot;
 
     // add direct control for motor, switch, and ultrasonic sensor.