Terrabots / Mbed 2 deprecated DUMP_TRUCK_Test

test program

Dependencies:   LSM9DS1_Library2 MotorV2 SRF05 Tracker2 mbed nRF24L01P

Fork of DUMP_TRUCK_SPR2017 by Terrabots

DumpTruck.h@9:5a35e2a28a47, 2017-02-23 (annotated)

Committer:
simplyellow
Date:
Thu Feb 23 20:01:28 2017 +0000
Revision:
9:5a35e2a28a47
Parent:
5:dc4cf6cc24b3 
cleaned dumptruck.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Josahty 0:6942f0e2198c 1 #ifndef MBED_DUMP_TRUCK_H
Josahty 0:6942f0e2198c 2 #define MBED_DUMP_TRUCK_H
simplyellow 9:5a35e2a28a47 3
Josahty 0:6942f0e2198c 4 #include "mbed.h"
simplyellow 9:5a35e2a28a47 5 #include "Tracker.h"
simplyellow 9:5a35e2a28a47 6 #include "IMU.h"
simplyellow 9:5a35e2a28a47 7 #include "Motor.h"
simplyellow 9:5a35e2a28a47 8 #include "Transceiver.h"
simplyellow 9:5a35e2a28a47 9
simplyellow 9:5a35e2a28a47 10 // ADD SWITCHES & ULTRASONIC SENSOR implementation
Josahty 0:6942f0e2198c 11
Josahty 0:6942f0e2198c 12 class DumpTruck {
Josahty 0:6942f0e2198c 13 public:
Josahty 0:6942f0e2198c 14 DumpTruck(int truckId);
simplyellow 9:5a35e2a28a47 15
simplyellow 9:5a35e2a28a47 16 // motor functions
simplyellow 9:5a35e2a28a47 17 void drive(float speed, float distance);// frontMotor
simplyellow 9:5a35e2a28a47 18 void turn(float angle); // turnMotor
simplyellow 9:5a35e2a28a47 19 void moveBed(bool raise, float angle); // bedMotor
simplyellow 9:5a35e2a28a47 20 void stop(); // all Motors
simplyellow 9:5a35e2a28a47 21
simplyellow 9:5a35e2a28a47 22 // ultrasonic functions
simplyellow 9:5a35e2a28a47 23 bool detect(); // returns bool for object too close
simplyellow 9:5a35e2a28a47 24
simplyellow 9:5a35e2a28a47 25
Josahty 0:6942f0e2198c 26 protected:
simplyellow 9:5a35e2a28a47 27 Tracker *track;
simplyellow 9:5a35e2a28a47 28 IMU *bed;
simplyellow 9:5a35e2a28a47 29 Motor *frontMotor;
simplyellow 9:5a35e2a28a47 30 Motor *turnMotor;
simplyellow 9:5a35e2a28a47 31 Motor *bedMotor;
simplyellow 9:5a35e2a28a47 32 Transceiver *nrf;
simplyellow 9:5a35e2a28a47 33
simplyellow 9:5a35e2a28a47 34 // add direct control for motor, switch, and ultrasonic sensor.
simplyellow 9:5a35e2a28a47 35
Josahty 0:6942f0e2198c 36 int truckNumber;
simplyellow 9:5a35e2a28a47 37
simplyellow 9:5a35e2a28a47 38 // motor variables
simplyellow 9:5a35e2a28a47 39 float speed; // drive
simplyellow 9:5a35e2a28a47 40 float distance; // drive
simplyellow 9:5a35e2a28a47 41 float potAngle; // turn
simplyellow 9:5a35e2a28a47 42 float bedAngle; // bed
simplyellow 9:5a35e2a28a47 43
simplyellow 9:5a35e2a28a47 44 // bed-specific variables
simplyellow 9:5a35e2a28a47 45 bool switchState; // BusIn the two limit switches
simplyellow 9:5a35e2a28a47 46
simplyellow 9:5a35e2a28a47 47 // ultrasonic-specific variables
simplyellow 9:5a35e2a28a47 48 bool tooClose;
simplyellow 9:5a35e2a28a47 49 float proximity
Josahty 0:6942f0e2198c 50 };
simplyellow 5:dc4cf6cc24b3 51 #endif