Activities

File content as of revision 6:5cc6a9b6f60e:

/**
*   @file   DumpTruck.h
*
*   @brief  DumpTruck class implements API for commanding the dump truck and
*           for implementing proprioceptive sensing.
*
*   @author Terrabots Team
*
*/


#ifndef MBED_DUMP_TRUCK_H
#define MBED_DUMP_TRUCK_H
 
#include "mbed.h"

class DumpTruck {
public:

    /**
    *   Constructor for the DumpTruck object.
    *
    *   @param[in]  truckId     Not sure.
    */
    DumpTruck(int truckId);

    /**
    *   Command the dump truck to drive with a desired sped for a specified
    *   distance.
    *
    *   @param[in]  mSpeed  The desired motor speed.
    *   @param[in]  dDist   The desired driver distance.
    */
    void drive(); // Drive DC motors with a desired motor speed and distance

    /**
    *   Command the dump truck to stop.
    *
    */
    void stop();

    /**
    *   Perform calibration routine.  It will ... FILL OUT
    *
    */
    void Calibrate();

    /**
    *   WHAT IS THIS ABOUT?
    *
    */
    //void RotateTo();

    /**
    *   Move the bed to the fully down position.  The down switch should
    *   engage.
    *
    */
    void BedDown(); 

    /**
    *   Move the bed to the fully up position.  The up switch should
    *   engage.
    *
    */
    void BedUp();   

    /**
    *   Raise the bed to the desired angle.  Only effective if the bed angle
    *   estimate has been zeroed out.
    *
    */
    //void raiseTo();


    /**
    *   NOT SURE.  HOW DIFFERENT FROM ABOVE? raiseTo should raise to any
    *   arbitrary angle within limits.
    *
    */
    //void LowerBed();
    
  
protected:
    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
};
#endif